http://wiki.paparazziuav.org/w/api.php?action=feedcontributions&user=Cdewagter&feedformat=atomPaparazziUAV - User contributions [en]2024-03-29T12:54:21ZUser contributionsMediaWiki 1.37.1http://wiki.paparazziuav.org/w/index.php?title=Lisa/M_v2.0&diff=24100Lisa/M v2.02018-06-26T21:34:38Z<p>Cdewagter: max voltage on Vbat</p>
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<div><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><br />
<div style="float: right; width: 45%; overflow: hidden">[[Image:LisaM_V2_0_TopView.JPG|right|500px|Lisa/M V2.0 top view]]</div><br />
<div style="float: right; width: 40%">__TOC__</div><br />
<br />
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 a STM32 processor for extensive peripheral connection and faster processing.<br />
<br />
A number of tutorials are being prepared for getting started with Lisa/M:<br />
* [[Lisa/M/Tutorial/FixedWing|Fixedwing tutorial]]<br />
* [[Lisa/M/Tutorial/RotorCraft|Rotorcraft tutorial]]<br />
<br />
Please join us in our quest to make the getting started information even more, eh... informative, by adjusting those pages with your own improvements.<br />
<br />
== Features ==<br />
<br />
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.<br />
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].<br />
<br />
* STM32 microcontroller [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00220364.pdf STM32F105RCT6 datasheet] with 256kB flash and 64kB RAM<br />
* Pressure sensor [http://www.bosch-sensortec.com/content/language1/html/3477.htm BMP085] (optional as of 08/2012)<br />
* 7 x Analog input channels<br />
* 3 x Generic digital in-/out-puts<br />
* 2 x 3.3V TTL UART (5V tolerant)<br />
* 8 x Servo PPM outputs (only 6 if second I2C (I2C1) bus in use)<br />
* 1 x CAN bus<br />
* 1 x [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus<br />
* 1 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] bus (2 x when using only the first 6 Servo PPM outputs)<br />
* 1 x Micro USB<br />
* 4 x status LEDs with attached test point<br />
* 10.8 grams (0.4 oz) (with Aspirin IMU mounted)<br />
* 9.9 grams (0.35 oz) (without Aspirin IMU mounted)<br />
* ~34mm x ~60mm x ~10mm<br />
* 4 layers PCB design<br />
<br />
With mounted Aspirin IMU has the following additional sensors on board:<br />
<br />
* 3 Axis Gyroscope<br />
* 3 Axis Accelerometer<br />
* 3 Axis Magnetometer<br />
* Barometer MS5611 (as of Aspirin v2.1)<br />
<br />
NOTE:<br />
'''Lisa/M has pads for the BMP085 pressure sensor. Lias/M 2 boards made before August 2012 had the BMP085 sensor mounted. Boards made after August 2012 do not have the sensor mounted as they are designed to be used with Aspirin 2.1 which has the new MS5611-01BA03 barometric pressure sensor.'''<br />
<br />
So, except for a GPS unit you have all necessary sensors for full attitude and altitude stabilization in an extremely small package.<br />
<br />
<gallery widths=200px heights=200px><br />
Image:LisaM_V2_0_TopView.JPG|Lisa/M V2.0 top view<br />
Image:LisaM_V2_0_BottomView.JPG|Lisa/M V2.0 bottom view<br />
</gallery><br />
<br />
== Pinout ==<br />
Pins Name and Type are specified with respect to the Autopilot Board.<br />
<br />
<div style="float: right; width: 100%"><br />
[[Image:LisaM_V2_0_top_labeled.png|900px]]<br />
[[Image:LisaM_warning_label.png|200px]]<br />
</div><br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''SERVO1/2/3/4/5/6/7/8'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||SERVOx||OUT||Servo signal (PWM)(See Note 1 below)||style="background:Yellow; color:black"|Yellow<br />
|-<br />
|2||SV||PWR||Servo Bus Voltage Rail (conf w/ JP1)||style="background:red; color:white"|Red<br />
|-<br />
|3||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''JTAG'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||N/A||N/A||JTAG Debug Header (Pin 1 is +3V3)||style="background:white; color:black"|None<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''UART3'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2||V_IN||PWR||UART Voltage (conf w/ JP6 and JP7)||style="background:Red; color:white"|Red<br />
|-<br />
|3||TX||OUT||USART3 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow<br />
|-<br />
|4||RX||IN||USART3 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''UART1/5'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red<br />
|-<br />
|3||RX1||IN||USART1 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange<br />
|-<br />
|4||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|5|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red<br />
|-<br />
|6||RX5||IN||UART5 Serial Input (3.3V level)(Pullup to Pin 5 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''GPIO'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red<br />
|-<br />
|4||PC12||I/O||GPIO, connected to PC12 (5V tolerant)||style="background:#FDC579; color:black"|Dark Tan<br />
|-<br />
|5||TRST||I/O||JTAG_TRST (also connected to LED1 cathode)||style="background:#FED6B1; color:black"|Light Tan<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''ANALOG2'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red<br />
|-<br />
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red<br />
|-<br />
|4||ADC4||I/O||by default connected to LED_4 cathode (Remove LED/resistor to use as ADC4)||style="background:magenta; color:white"|Magenta<br />
|-<br />
|5||ADC6||I/O||by default connected to LED_3 cathode (Remove LED/resistor to use as ADC6)||style="background:#FFA1B2; color:black"|Pink<br />
|-<br />
|6||BOOT0||I/O||BOOT0||style="background:grey; color:black"|Grey<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''USB'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|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<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''I2C1 CAN'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| V_BATT||PWR||V_BATT Bus on autopilot, voltage divider for V_BAT_MEAS, (conf w/ JP2 to connect to V_IN)||style="background:Red; color:white"|Red<br />
|-<br />
|3|| V_IN||PWR||Connected to autopilot voltage regulator inputs (conf w/ JP1, JP2 and JP3)||style="background:Red; color:white"|Red<br />
|-<br />
|4||CANL||I/O||CANL (5V level)||style="background:orange; color:white"|Orange<br />
|-<br />
|5||CANH||I/O||CANH (5V level)||style="background:yellow; color:black"|Yellow<br />
|-<br />
|6||SCL||I/O||SCL (5V level)(See Note 1 below)||style="background:green; color:white"|Green<br />
|-<br />
|7||SDA||I/O||SDA (5V level)(See Note 1 below)||style="background:blue; color:white"|Blue<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''SPI1'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red<br />
|-<br />
|3||MOSI||Out||MOSI||style="background:orange; color:white"|Orange<br />
|-<br />
|4||MISO||In||MISO||style="background:yellow; color:black"|Yellow<br />
|-<br />
|5||SCK||Out||SCK||style="background:green; color:white"|Green<br />
|-<br />
|6||SS||Out||SS||style="background:blue; color:white"|Blue<br />
|-<br />
|7||DRDY||I/O||DRDY||style="background:#FDC579; color:black"|Dark Tan<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''ANALOG1'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red<br />
|-<br />
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red<br />
|-<br />
|4||ADC1||In||ADC1 (or LED_6 if populated)||style="background:green; color:white"|Green<br />
|-<br />
|5||ADC2||In||ADC2 (or LED_7 if populated)||style="background:blue; color:white"|Blue<br />
|-<br />
|6||ADC3||In||ADC3 (or LED_8 if populated)||style="background:#FED6B1; color:black"|Light Tan<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''UART2'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| +3V3||PWR||UART Voltage (conf w/ JP4 and JP5)||style="background:Red; color:white"|Red<br />
|-<br />
|3||TX||OUT||USART2 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow<br />
|-<br />
|4||RX||IN||USART2 Serial Input (3.3V level)('''NOT 5V TOLERANT''')(Pullup to Pin 2 voltage)||style="background:Orange; color:white"|Orange<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''I2C2'''<br />
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''<br />
|-<br />
|1||GND||PWR||common ground||style="background:black; color:white"|Black<br />
|-<br />
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red<br />
|-<br />
|3||SCL||I/O||SCL (3.3V level)||style="background:green; color:white"|Green<br />
|-<br />
|4||SDA||I/O||SDA (3.3V level)||style="background:blue; color:white"|Blue<br />
|}<br />
<br />
<br />
'''NOTE 1''': SERVO7 and SERVO8 are directly connected to I2C1_SCL and I2C1_SDA lines. Therefore one has to choose, either use SERVO7 and SERVO8 '''OR''' have the I2C1 bus available, if that one needs to be used for whatever reason alongside the I2C2 bus. To use the servos 7 and 8 just set the <define name="USE_SERVOS_7AND8"/> in your airframe file and you are good to go. For this to work one must make sure to have the latest Paparazzi sourcecode.<br />
<br />
=== LEDs ===<br />
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).<br />
By default the LEDs are use for:<br />
; LED_1, red: ''SYS_TIME_LED'': blinks with 1Hz<br />
; LED_2, green : ''AHRS_ALIGNER_LED'': blinks until the AHRS is aligned (gyro bias initialized) and then stays on<br />
; LED_3, green : ''GPS_LED'': blinking if trying to get a fix, on if 3D fix<br />
; LED_4, red : ''RADIO_CONTROL_LED'': on if RC signal is ok<br />
; LED_5, green : not set to anything by default<br />
<br />
=== Jumper Configuration ===<br />
There are a number of jumpers on Lisa/M used to configure voltage levels and power input.<br />
<br />
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_BATT connector is NOT connected to V_IN, so one can attach a battery voltage to the V_BATT pin to measure the battery voltage, if so desired.<br />
<br />
<gallery widths=380px heights=205px><br />
Image:LisaM_V2_0_top_jumpers_and_leds.png | Lisa/M v2.0 Top Jumpers and LEDs<br />
Image:LisaM_V2_0_bottom_jumpers.png | Lisa/M v2.0 Bottom Jumpers<br />
</gallery><br />
<br style="clear:both"><br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''Power Jumper Configuration'''<br />
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''<br />
|-<br />
|JP1||SERVO_BUS to V_IN||OPEN||If closed then connects servo header voltage rail SERVO_BUS to autopilot input voltage V_IN rail<br />
|-<br />
|JP2||V_BATT to V_IN||OPEN||If closed then connects I2C1/CAN rail V_BATT to autopilot input voltage V_IN rail<br />
|-<br />
|JP3||V_IN to +5V||OPEN||If closed then connects autopilot input voltage V_IN rail to autopilot +5V rail, bypassing onboard 5V supply<br />
|}<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''UART3 VCC Configuration'''<br />
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''<br />
|-<br />
|JP6||UART3_VCC to V_IN||style="background:black; color:white"|CLOSED||Connects UART3 connector VCC to autopilot input voltage V_IN rail<br />
|-<br />
|JP7||UART3_VCC to +3V3||OPEN||If closed then connects UART3 connector VCC to autopilot +3V3 rail<br />
|}<br />
'''WARNING: UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting!!!'''<br />
<br />
'''WARNING: DO NOT CLOSE BOTH JP6 AND JP7 SIMULTANEOUSLY!!!'''<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''UART2 VCC Configuration'''<br />
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''<br />
|-<br />
|JP4||UART2_VCC to V_IN||OPEN||If closed then connects UART2 connector VCC to autopilot input voltage V_IN rail '''SEE WARNING BELOW'''<br />
|-<br />
|JP5||UART2_VCC to +3V3||style="background:black; color:white"|CLOSED||If closed then connects UART2 connector VCC to autopilot +3V3 rail<br />
|}<br />
'''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).<br />
<br />
'''WARNING: DO NOT CLOSE BOTH JP4 AND JP5 SIMULTANEOUSLY!!!'''<br />
<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"<br />
|+'''UART1 and UART5 VCC Configuration'''<br />
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''<br />
|-<br />
|JP8||UART1&5_VCC to V_IN||OPEN||If closed then connects UART1 and UART5 connector VCC to autopilot input voltage V_IN rail<br />
|-<br />
|JP9||UART1&5_VCC to +3V3||style="background:black; color:white"|CLOSED||If closed then connects UART1 and UART5 connector VCC to autopilot +3V3 rail<br />
|}<br />
'''WARNING: DO NOT CLOSE BOTH JP8 AND JP9 SIMULTANEOUSLY!!!'''<br />
<br />
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.<br />
<br />
=== Powering the Board ===<br />
<br />
[[Image:LisaM_warning_label.png|right|200px]]<br />
<br />
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. <br />
<br />
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.<br />
<br />
When measuring the supply voltage of a battery with the V_BATT 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_BATT is<br />
<br />
<math>V\_BAT_{max} = 3.3V*\frac{10k+2.2k}{2.2k} = 18.3V</math><br />
<br />
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).<br />
<br />
== Schematic ==<br />
<gallery widths=250px heights=168px><br />
Image:Lisa_m_v2_0_sheet_1.png | LisaM V2.0 Schematic Sheet 1/3<br />
Image:Lisa_m_v2_0_sheet_2.png | LisaM V2.0 Schematic Sheet 2/3<br />
Image:Lisa_m_v2_0_sheet_3.png | LisaM V2.0 Schematic Sheet 3/3<br />
</gallery><br />
<gallery widths=250px heights=168px><br />
Image:Lisa_m_v2_1_r3_sheet_1.png | Lisa/M V2.1 R3 Schematic Sheet 1/2<br />
Image:Lisa_m_v2_1_r3_sheet_2.png | Lisa/M V2.1 R3 Schematic Sheet 1/2<br />
</gallery><br />
<br style="clear:both"><br />
<br />
== Examples of Airborne Equipment Electrical Connections ==<br />
<br />
=== Quadrocopter, Spektrum Satellite Receivers, PWM Motor Controllers (ESC) and dedicated avionics Battery Elimination Circuit (BEC) ===<br />
<br />
[[File:LisaM_V2_0_wiring_quadrocopter_spektrum_bec_pwmesc.png|700px]]<br />
<br />
This is a recommended powering configuration. It eliminates the balancing issues of the built in BECs into the ESCs.<br />
<br />
The dotted lines from the BEC show the alternative wiring that does not require closing the VS jumper on the Lisa/M. The disadvantage is that you have to wire/crimp the BEC output wires into the picoblade molex connector providing the battery voltage reference. Usually it is easier to just use the existing "servo" connector on the BEC and closing the jumper instead.<br />
<br />
=== Quadrocopter, Spektrum Satellite Receivers and PWM Motor Controllers (ESC) ===<br />
<br />
[[File:LisaM_v2_0_wiring_quadrocopter_spektrum_pwmesc.png|700px]]<br />
<br />
This configuration assumes the ESCs have a battery eliminator circuit (BEC) function and provide 5 volts on their 5V pins. Closing JP1 powers Lisa/M and the attached accessories.<br />
<br />
<span style="color:red">Warning:</span> The built in BECs on the ESCs are usually linear voltage regulators, they are fairly inefficient compared to dedicated BECs that are usually implemented as switching DC/DC converters.<br />
<br />
<span style="color:red">Warning:</span> Due to manufacturing differences of BECs, connecting more then one BEC in parallel will likely cause one of the BECs to take majority of the load and dissipate most of the drop down voltage. ([https://en.wikipedia.org/wiki/Linear_regulator Read on how linear voltage regulators work.]) As in this example the BECs are part of the ESCs, one of the ESCs will get warmer than the others, which in turn may lead to reliability issues.<br />
<br />
[[File:LisaM_V2_0_wiring_quadrocopter_spektrum_pwmesc_shunts.png|700px]]<br />
<br />
<span style="color:green">Tip:</span> To improve balancing between the ESC built in BECs you can add a 1Ohm resistor in the +5V line coming from the motor controller. This will cause some pre-loading of the voltage regulator and improve the load sharing between the BECs while decreasing the efficiency of the supply.<br />
<br />
When using cheap ATMega or SiLabs-based PWM motor controllers consider replacing their firmware with either [https://github.com/sim-/tgy Simon Kirby] or [https://github.com/bitdump/BLHeli BLHeli] firmware respectively to get useful performance of your multicopter! You can find a firmware compatibility list [https://docs.google.com/spreadsheet/ccc?key=0AhR02IDNb7_MdEhfVjk3MkRHVzhKdjU1YzdBQkZZRlE here].<br />
<br />
=== Quadrocopter, Spektrum Satellite Receivers and I2C Motor Controllers (ESC) ===<br />
<br />
[[File:LisaM_V2_0_quadrocopter_spektrum_i2c_esc_wiring.png|700px]]<br />
<br />
This diagram "should" be the same for AscTec as well as Mikrokopter motor controller based airframes.<br />
<br />
=== Fixedwing, Spektrum Satellite Receivers and Elevons Only ===<br />
<br />
[[File:LisaM_V2_0_wiring_fixedwing_spektrum_elevons.png|700px]]<br />
<br />
This configuration assumes the ESC has a BEC and provides 5 volts on its 5V pin. Closing JP1 powers Lisa/M and the attached accessories.<br />
<br />
=== Fixedwing, Spektrum Satellite Receivers ===<br />
<br />
[[File:LisaM_V2_0_wiring_fixedwing_spektrum.png|700px]]<br />
<br />
This configuration assumes the ESC has a BEC and provides 5 volts on its 5V pin. Closing JP1 powers Lisa/M and the attached accessories.<br />
<br />
=== Transitioning [http://wiki.thequadshot.com Quadshot] Using Spektrum Receivers ===<br />
<br />
[[File:LisaM_V2_0_wiring_quadshot_spektrum.png|700px]]<br />
<br />
The ESCs have BECs and provide 5 volts on their 5V pins. Closing JP1 powers Lisa/M and the attached accessories.<br />
<br />
Still need: Large Fixed-wing with advanced power system and/or IC engine, PPM example<br />
<br />
== R/C Receivers ==<br />
<br />
One can use [[Subsystem/radio_control#Spektrum|Spektrum]] DSM2 or compatible receivers as well as traditional PPM receivers. It is even possible to [[Subsystem/radio_control#Spektrum|connect two Spectrum or compatible satellite receivers]] for better redundancy or to improve RC signal reception. Connecting a RC receiver for flying your aircraft in manual mode during setup and test phase is 99% of the cases a must. Therefore the Paparazzi team made it easy to connect one.<br />
<br />
=== Using a Spektrum DSM receiver ===<br />
<br />
==== Physically connecting ====<br />
<br />
Wiring up a Spektrum or compatible satellite receiver is not all to difficult to do. Note however that it is very important to make absolutely sure the connectors are properly made. Not being precise in this step can mean full RC loss and loss of airframe in the first tuning testflights. <br />
<br />
A spektrum satellite receiver should be connected to the UART1 connector on the autopilot board. Make sure the voltage on the AP board UART1 + pin is not to high, or to low for your receiver.<br />
<br />
Steps:<br />
# Connect the minus(-) of the receiver to GND of UART1<br />
# The receiver plus(+) to the UART1 Plus(+) <br />
# Data out signal of the receiver to the RX pin on the UART1<br />
<br />
==== Binding ====<br />
<br />
To get a receiver and transmitter to work together you must perform a binding process. <br />
<br />
It is important to '''bind''' your Spectrum DSM receiver to your transmitter '''via''' your '''Lisa board''', not in any other way!<br />
<br />
The way to bind is by temporary connecting via fiddly small molex pins. <br />
It is advised to make a small bind plug out of a molex connector for this purpose. <br />
Before you start make sure you have your airframe configuration already uploaded either via USB or a JTAG cable.<br />
<br />
The bind procedure:<br />
<br />
# On the connector '''ANALOG1''' have a wire between the GND and ADC1 pin, located in the middle of the board<br />
# Power up your autopilot board<br />
# Hold the bind button on your '''transmitter''', while '''keeping it pressed''' switch on your transmitter<br />
#:Wait...! All lights of the receiver blink and then go steady<br />
# Let go of your transmitter bind button<br />
# Power off your Lisa Board<br />
# Remove the wire connecting the GND and ADC1 pins on the ANALOG1 connector<br />
# Repower your board, if you have servos connected and wiggle the RC transmitter sticks some servos should move<br />
<br />
That is all, you are done. <br />
The bind procedure only needs to be done '''once''' for your receiver.<br />
<br />
=== Using a CPPM receiver ===<br />
<br />
Using a CPPM receiver, a so called '''PPM sum stream''' input is possible. [[RC_Receivers_and_Radios#PPM_Based_Systems | To make it work, you need a CPPM a.k.a. PPM sum, stream out capable receiver. Find out more following this link]] <br />
<br />
==== Connecting ====<br />
<br />
Connect the CPPM out signal to the RX pin of UART1.<br />
<br />
Make sure put this in your airframe file in your AP target section.<br />
<source lang="xml"><br />
<firmware name="fixedwing or rotorcraft"><br />
...<br />
<subsystem name="radio_control" type="ppm"><br />
<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/><br />
</subsystem><br />
...<br />
</firmware><br />
</source><br />
<br />
===== Alternative =====<br />
<br />
However if in the case you want to use the UART1 port for something else, there is an option to connect the receiver to a servo pin. Yes, that's right, a servo connector is used for receiving a CPPM stream '''input'''. If you want to walk that path, the default pin number to capture the CPPM datastream is via servo connector SERVO6<br />
<br />
If you connect the CPPM out capable receiver that way make sure to put this in your airframe file in your AP target section:<br />
<br />
<source lang="xml"><br />
<firmware name="fixedwing or rotorcraft"><br />
...<br />
<subsystem name="radio_control" type="ppm"><br />
<configure name="RADIO_CONTROL_PPM_PIN" value="SERVO6"/><br />
</subsystem><br />
...<br />
</firmware><br />
</source><br />
<br />
If you do not have or cannot modify a receiver to a ''CPPM out'' able receiver, a [[PPM_Encoder | PPM encoder board]] can be used to avoid opening your receiver for PPM out modification. However with the very low prices of Spectrum DSMX CPPM out, lat time we looked you could have one starting from EUR 10,-<br />
<br />
===Using a S-Bus receiver===<br />
<br />
There is a third option, connect a receiver with S-Bus signal output. For this with regular Futaba receiver an inverter my be needed.<br />
<br />
== Extras ==<br />
<br />
=== UART I/O ===<br />
<br />
UART pins can also be used as general purpose I/O, this might come in handy in case all other inputs or your AP board are in use.<br />
<br />
=== USB as UART1TX + hardware flow control===<br />
<br />
[[File:Lisam-usb-uart1.jpg]]<br />
<br />
The USB_VBUS on the Lisa/M 2.0 can be used as UART1 TX. To do this, a diode has to be removed. Make sure to include a series resistor of 100-3000 Ohm to protect the microcontroller from overcurrents. The 2nd and 3th pin of the USB pads are CTS and RTS respectively. It is recommended to include a series resistor in the RTS line, as this is an outgoing line. <br />
<br />
If you want to enable flow control in the software, but don't want to use flow control when no cable is connected to the CTS/RTS, a pulldown resistor of 10 kOhm has to be added between the CTS and the GND. If you do this, take care when connecting UART devices that have a large series resistor in their RTS line. The combination of the pulldown resistor and the series resistor might cause the high-level voltage to drop under the high-level threshold of the microcontroller, causing strange behaviour.<br />
<br />
For Example the RTS , mostly a purple wire, is the '''pin 10''' on the Xtend module when set in the module with Hardware flow control (use X-CTU)<br />
CTS, most blue, on pin 9 of the Xtend<br />
<br />
<gallery widths=380px heights=205px><br />
Image:Lisam-diode.JPG | Remove this diode. After removing this diode you can not power the board via USB anymore.<br />
Image:Lisam-gpio-usb.JPG | Take care of the small distance between the GPIO pins and the USB pads.<br />
</gallery><br />
<br />
== PCB ==<br />
<br />
=== Gerber & Drill Files ===<br />
<br />
'''''Download Lisa/M v2.0 gerber & drill files (zip)''''' ''[[Lisa/M_v2.0#Get the design|Get the design]]''<br />
<br />
== Assembly ==<br />
<br />
To create and assemble a board oneself is possible. It takes some skills however. <br />
<br />
For the Lisa/m v2.0 without the Aspirin sensor board a good soldering iron is enough.(smallest components are 0402) For the Aspirin Sensor board you need a hot air soldering station.<br />
<br />
In case you wan to follow that path you need the design. You came to the right place here is the info to get the needed files;<br />
<br />
===Components Layout===<br />
<br />
''[[Lisa/M_v2.0#Get the design|Get the design]]''<br />
<br />
Need some top and bottom of board images and line drawings here.<br />
<br />
=== Bill Of Material ===<br />
<br />
'''''Download Lisa/M v2.0 Bill Of Material (zipped .xls file)''''' ''[[Lisa/M_v2.0#Get the design|Get the design]]''<br />
<br />
Open .sch File in Eagle, execute UPL --> bom.ulp , save as .txt<br />
<br />
== PCB and assembled boards suppliers ==<br />
<br />
To difficult to create your own AP board, understandable, thus pre made board available via [[Get_Hardware|Get Hardware]] page... hopefully :)<br />
<br />
== Mechanical Dimensions ==<br />
<br />
[[Image:LisaM_V2_0_top_mechanical.png|500px|Lisa/M v2.0 Mechanical Dimensions]]<br />
<br />
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).<br />
Beware that in version 2.1 of the Lisa/MX the mounting holes are for m3 screws.<br />
<br />
== Get the design ==<br />
<br />
'''Source files'''<br />
:*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]''<br />
'''Gerber & Drill files'''<br />
:*download ''NOT YET AVAILABLE'' Need generated gerbers and drill files<br />
'''Assembly files'''<br />
:*download ''NOT YET AVAILABLE'' Need Lisa/M v2.0 Components layouts (pdf)<br />
:*download ''NOT YET AVAILABLE'' Need Lisa/M v2.0 Bill Of Material<br />
<br />
== Uploading new software ==<br />
New onboard software for the Lisa/M v2.0 can uploaded by connecting your PC via a micro-USB port to the autopilot board. For this the board need to contain the [[Luftboot]] bootloader. All Lisa/M 2.0 and Lisa/M 2.1 from [[1BitSquared]] come with luftboot already in the board.<br />
<br />
An alternative to get your firmware in the board is by using a Black Magic Probe JTAG/SWD debugger and programmer connected via the 10-pin JTAG/SWD Samtec connector that is on the board.<br />
<br />
See the [[FirmwareFlashing]] page for an overview of different methods to upload new software to your autopilot.<br />
<br />
=== Using luftboot ===<br />
'''This is the default FLASH_MODE for Lisa/M v2.0 and v2.1''', it could be explicitly selected by adding<br />
:<source lang="xml"><configure name="FLASH_MODE" value="DFU"/></source><br />
to the firmware section of your airframe file. Make sure to set Lisa/M 2.0 or 2.1 as it's target board.<br />
<br />
Once USB is plugged in, the board automatically goes to bootloader mode and the status LEDs cycle up and down:<br />
<br />
[[File:Luftboot.gif|320px]]<br />
<br />
If you have trouble entering the bootloader mode or want to upload/update the bootloader itself, see the [[Luftboot]] page.<br />
<br />
On Lisa/M V2.1 if you plug in the usb connector the board should go into bootloader mode automatically, older versions of the board come with a bootloader that has to be explicitly entered. If you have trouble with any part of the process, make a github account and click on the chat button in the lower right corner on this page.<br />
<br />
=== Using JTAG ===<br />
You still can use a [[JTAG|JTAG adapter]] for [[FirmwareFlashing#JTAG|flashing]] and [[DevGuide/JTAG-Debug|debugging]] your paparazzi firmware. To use [[FirmwareFlashing#JTAG|JTAG flashing]] configure the ''FLASH_MODE'' in your firmware section:<br />
:<source lang="xml"><configure name="FLASH_MODE" value="JTAG"/></source><br />
<br />
It is recommended to use the Black Magic Probe as your JTAG adapter. This avoids issues that result from using OpenOCD software. See more details [[JTAG#Black_Magic_Probe|here]]<br />
<br />
Using JTAG will not overwrite the bootloader by default. To overwrite the luftboot bootloader configure<br />
:<source lang="xml"><configure name="NO_LUFTBOOT" value="1"/></source><br />
<br />
Then press upload as normal...<br />
<br />
=== Serial Firmware Upload ===<br />
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]].<br/><br />
Either set the flash mode in the target section of the airframe configuration:<br />
:<source lang="xml"><configure name="FLASH_MODE" value="SERIAL"/></source><br />
or add it to the commandline invocation:<br />
make AIRCRAFT=<aircraftname> ap.upload FLASH_MODE=SERIAL<br />
<br />
Due to hardware constraints, the board has to be modified to make use of the bootloader, which is only accessible on UART1:<br />
# Diode D3 has to be removed (the bigger black brick next to the USB connector). Attention, no more powering via USB after that.<br />
# BOOT1 has to be set to GND by connecting ACC_DRDY(unused) to GND at the Aspirin pads<br />
<br />
Now a boot sequence works as follows:<br />
#BOOT0 has to be set to 3.3V by use of a jumper cable<br />
#Connect a 3.3V serial cable (FTDI, MAX232...) to UART1, the TX pin is USB_VBUS (accessible were the previously mentioned diode was located)<br />
#Power the board and activate the bootloader program<br />
<br />
=== Prevent board from going into bootloader mode ===<br />
<br />
Normally, if you power up the board with the USB cable connected to a PC it will automatically go into bootloader mode. If you want the board to power up normally with the cable connected you can ground the ADC2 in the ANALOG1 connector.<br />
<br />
== Detailed Hardware Revision History ==<br />
<br />
=== Changes Between LISA v1.1 and v2.0 ===<br />
<br />
* Lots of silkscreen improvements<br />
* Added attributes to all parts to make the usage of bom-ex ulp possible.<br />
* Improved routing to allow teardropping<br />
* Fixed stm32f1, f2 and f4 compatibility circuit. (has to jump to ground not to 3v3)<br />
* 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.<br />
* Added pullups on all UART RX lines to prevent undesired floatation.<br />
* LED's are connected to 3v3 now. To make sure we don't have an issue with voltage tolerance on the gpio pins.<br />
* ...<br />
<br />
== Hardware Change Requests ==<br />
<br />
If you have a Lisa/M 2.0 and in the process of using it you come up with something you find annoying, dangerous, or restricting, add your hardware update requests here. Better still, modify the Lisa schematics yourself and show your new improvements if you are skilled enough to do this.<br />
<br />
* 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. <br />
** A: Using a MS5611 is possible through using a Aspirin v2.1 board<br />
<br />
* 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.<br />
<br />
* 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 insert I2CCAN Molex conector into SPI Molex on board connector. Thus a separate CAN and Power plug. Power on regular four pin molex with GND, V+5, , V_BATT, V_I (Current sense). Option to have thicker wire to be soldered to the board, for power hungry setups and other issues connectors for power are not a good idea.<br />
<br />
* REQ: Replace Aspirin IMU board with InvenSense MPU-9150 and bring the MS5611 back onto the Lisa/M board to reduce footprint, mass, and manufacturing cost once the 9150 becomes readily available(if at al with SPI) and is tested to perform well.<br />
<br />
<br />
== Swap STM32 F1 for STM32 F4 ==<br />
<br />
A Lisa m v2 and a Lia autopilot can be easily converted to a much more powerful autopilot, We can swap the default STM32 F1 MCU for a STM32 F4 one. To be more specific, a STM32F405RGT6 chip [http://www.st.com/web/catalog/mmc/FM141/SC1169/SS1577/LN1035/PF252144]. The chip has the same dimensions (LQFP64 10x10mm package) with the exact same pinout as the original STM32F105RCT6 chip. The main advantages of the F4 chip are:<br />
<br />
* 168MHz CPU speed, 1MB flash and 192kb RAM<br />
* FPU (fast floating point computations)<br />
* Configurable DMA streams so more peripherals can use DMA<br />
* Multiplexed I/O pins so peripherals can be mapped to various I/O pins<br />
* CPU usage only about 5% with standard rotorcraft flight configuration<br />
<br />
STM32F405RGT6 chip can be ordered for example [http://cz.mouser.com/ProductDetail/STMicroelectronics/STM32F405RGT6/?qs=Z8%252beY1k3TIKgj7QWsYGpQw== here]. To replace the chip a good soldering station with microscope and enough light is recommended. After replacing the chip, the solders small jumpers '''CMP1''' and '''CMP2''' have to be '''removed''' so that they are '''open'''. <br />
<br />
<gallery widths=300px heights=200px><br />
[[File:F4_digikey.jpg]]<br />
Image:F4_digikey.jpg|DigiKey part number for F4 chip<br />
Image:F4_on_board.jpg|Lia F4 with the new chip<br />
</gallery><br />
<br />
=== Flashing ===<br />
The STM32F4 can be flashed via SWD/JTAG (e.g. with the BlackMagicProbe) or via [[DFU#Native_DFU_bootloader_.28embedded_in_ROM.29|DFU-UTIL]].<br />
[[Luftboot|Luftboot]] currently supports only F1xx chips.<br />
<br />
'''To program via DFU-UTIL:'''<br />
<br />
[[File:LisaMX v2_0_DFU.jpg|500px]]<br />
<br />
[[DFU#Native_DFU_bootloader_.28embedded_in_ROM.29|First, install DFU-UTIL as shown here.]]<br><br />
The two pairs of pins circled in red should be shorted (VERY CAREFULLY), eg with tweezers, as shown, i.e.:<br><br />
1) The Boot0 and VDD pins on the STM32F4 should be shorted together.<br><br />
2) The ACC_DRDY (Boot1) and GND pins should be shorted together on the Aspirin mounting pads. (This can be done even if an aspirin IMU is mounted).<br><br />
The USB connector should then be plugged in. This action also powers the board. Do not connect any additional source of power.<br><br />
Remove the shorts. The board should now be in bootloader mode. Only one green LED should be lit.<br><br />
The board can then be flashed using DFU-UTIL.<br><br />
Tested functional on a [http://transition-robotics.com/products/lisa-m-f4-with-10dom-aspirin-imu TRI Lisa/MX v2.0] using Paparazzi Master branch on 18 Nov 2014.<br><br><br />
<br />
'''A guide how to flash the F4 chip from Eclipse can be found in [[RT_Paparazzi|RT_Paparazzi]].'''<br />
<br />
<br />
[[Category:Lisa]] [[Category:User_Documentation]] [[Category:Autopilots]]</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Lisa/MXS_v1.0&diff=23818Lisa/MXS v1.02017-08-11T15:14:17Z<p>Cdewagter: link to pdf on hardware github</p>
<hr />
<div>Lisa/Mx-Small is a smaller version of [[Lisa/M]] with an STM32F4 processor for only 1.45 gram. See Lisa-Mx for more information. See [https://github.com/paparazzi/paparazzi-hardware/blob/master/controller/lisa_s/lisa_mx_s/v1.0/lisa_mx_s_v1_0.PDF Github Paparazzi - Hardware Lisa MXS] for schematics.<br />
<br />
<div style="float: right; width: 100%"><br />
[[Image:Lisa mx s v1 0.png|500px]]<br />
</div><br />
<br />
In the default mode, only 4 UART, 1 SPI, 1 I2C, 3 ADC and 6 servos are available. But since the F4 has massive alternate functions, more options are possible.<br />
<br />
- if you need 8 PWM, then I2C can become servo 7 and 8<br />
- if you need 5 UART servo 1 and 2 can become UART6<br />
- if you need more ADC then servo 5 and 6 can become ADC<br />
- if you need hardware flow control, UART2 RTS and CTS are on servo 5 and 6<br />
- if you need more than 8 servos, then nearly every UART and SPI can become extra PWM (except SPI-SS)</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Category:Autopilots/Index&diff=23817Category:Autopilots/Index2017-08-11T15:10:35Z<p>Cdewagter: </p>
<hr />
<div>'''STM32F7 based boards'''<br />
<br />
*[[Chimera]]<br><small>STM32F7 (ARM Cortex™-M7) based autopilot for fixed wing:</small><br />
**<small>[[Chimera/v1.00|'''Chimera v1.00''']]</small><br><small>Versatile Autopilot, 9 DOF IMU, microSD, Baro, Pitot, Modem, ready for Companion Computer...</small><br />
<br />
'''STM32F1 based boards'''<br />
<br />
*[[Lisa|Lisa]]<br><small>STM32F1 based autopilots:</small><br />
**[[Lisa/S|<small>'''Lisa/S''']]<br>STM32 micro footprint autopilot</small><br />
**[[Lisa/M_v10|<small>'''Lisa/M v1.0''']]<br>STM32 small footprint autopilot</small><br />
**[[Lisa/M_v20|<small>'''Lisa/M v2.0''']]<br>Improved STM32 small footprint autopilot</small><br />
**[[Lisa/L|<small>'''Lisa/L''']]<br>STM32/[[Gumstix|Overo]] high performance autopilot</small><br />
<br />
'''STM32F4 based boards'''<br />
<br />
*[[Apogee]]<br><small>STM32F4 (ARM Cortex™-M4) based autopilot for fixed wing:</small><br />
**[[Apogee/v1.00|<small>'''Apogee v1.00''']]<br>Super small and lightweight autopilot, 9 DOF IMU, microSD high speed, Baro, ,...</small><br />
<br />
*[[Elle|Elle]]<br/><small>STM32F4 autopilot system:</small><br />
**[[Elle0|<small>'''Elle0'''<span style="color:red"> New!</span>]]<br/>STM32F4 small and affordable autopilot</small><br />
<br />
*[[Lisa|Lisa]]<br><small>STM32F4 based autopilots:</small><br />
**[[Lisa/M_v20|<small>'''Lisa/MX''']]<br/>STM32F4 versatile autopilot with crypto support</small><br />
**[[Lisa/MXS_v1.0|<small>'''Lisa/MX-Small''']]<br/>STM32F4 versatile autopilot with crypto support</small><br />
<br />
*[[Krooz|Krooz]]<br><small>STM32F4 Cortex™-M4 high integrated Rotorcraft autopilot</small><br />
**[[Krooz|<small>'''Krooz''']]<br>STM32F4 Cortex™-M4 high integrated Rotorcraft autopilot</small><br />
**[[KroozSD|<small>'''KroozSD''']]<br>STM32F4 Cortex™-M4 high integrated autopilot, w. microSD slot, XBee conn.</small><br />
<br />
*[[Pixhawk|Pixhawk]]<br><small>Duo processor with Autopilot core on a STM32F4 Cortex™-M4 and Fly By Wire core on a STM32F1 Cortex™-M1</small><br />
<br />
'''LPC2148 based boards'''<br />
<br />
*[[Booz|Booz]]<br><small>Quadrotor autopilot</small><br />
<br />
*[[NavGo|NavGo]]<br><small>Multirotor autopilot</small><br />
**[[NavGo_v3|<small>'''NavGo v3''']]<br>Small and lightweight multirotor autopilot</small><br />
<br />
*[[Umarim]]<br><small>LPC based embedded IMU autopilot designed for small fixed wing:</small><br />
**[[Umarim_v10|<small>'''Umarim v1''']]<br>full sensor set for small fixed wing</small><br />
**[[Umarim_Lite_v2|<small>'''Umarim Lite v2''']]<br>light sensor set version of Umarim</small><br />
<br />
*[[Tiny]]<br><small>GPS integrated lightweight autopilots:</small><br />
**[[Tiny/v0.99|<small>'''Tiny v0.99''']]<br>Tiny autopilot</small><br />
**[[Tiny/v1.1|<small>'''Tiny v1.1''']]<br>Integrated GPS and 5V/2A supply</small><br />
**[[Tiny/v2.11|<small>'''Tiny v2.11''']]<br>Two layers PCB, 0603 components, big GPS groundplane, improved connectivity.</small><br />
<br />
*[[TWOG/v1.0|TWOG v1.0]]<br><small>8 grams Tiny WithOut GPS autopilot, with external GPS option.</small><br />
<br />
*[[YAPA]]<br><small>Yet Another Paparazzi Autopilot:</small><br />
**[[YAPA/v1.0|<small>YAPA v1.0]]<br>Same as [[TWOG]], but bigger with XBee, 100mil headers, mounting holes, rs232</small><br />
**[[YAPA/v2.0|<small>YAPA v2.0]] Reduced component cost</small><br />
<br />
*[[Classix|Classix]]<br><small>Dual [[MCU]]s, [[Gumstix]] connectivity</small><br />
<br />
*[[HB]]<br><small>Autopilots built in Bremen:</small><br />
**[[HB/v1.0|<small>'''HB v1.0''']]<br>Four layers PCB, no GPS, JTAG with IMU</small><br />
**[[HB/mini|<small>'''HB mini''']]<br>Four layers planar PCB, JTAG, 10 sevos, 12g, no GPS, with IMU</small><br />
<br />
'''Aircraft With Embedded Autopilots'''<br />
* Parrot<br />
** [[AR Drone 2]]<br />
** [[Bebop]]<br />
** [[Disco]]<br />
** [[Ap.parrot_minidrone|Minidrones]] (Swing, Rolling Spider, Mambo, ...)<br />
<br />
'''Archive'''<br />
*[[Previous_Autopilots|Previous Versions]]<br><small>Schematics and support for previous versions</small></div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Lisa/MXS_v1.0&diff=23698Lisa/MXS v1.02017-06-27T15:02:27Z<p>Cdewagter: alternate functions</p>
<hr />
<div>Lisa/Mx-Small is a smaller version of [[Lisa/M]] with an STM32F4 processor for only 1.45 gram. See Lisa-Mx for more information.<br />
<br />
<div style="float: right; width: 100%"><br />
[[Image:Lisa mx s v1 0.png|500px]]<br />
</div><br />
<br />
In the default mode, only 4 UART, 1 SPI, 1 I2C, 3 ADC and 6 servos are available. But since the F4 has massive alternate functions, more options are possible.<br />
<br />
- if you need 8 PWM, then I2C can become servo 7 and 8<br />
- if you need 5 UART servo 1 and 2 can become UART6<br />
- if you need more ADC then servo 5 and 6 can become ADC<br />
- if you need hardware flow control, UART2 RTS and CTS are on servo 5 and 6<br />
- if you need more than 8 servos, then nearly every UART and SPI can become extra PWM (except SPI-SS)</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=File:Lisa_mx_s_v1_0.png&diff=23697File:Lisa mx s v1 0.png2017-06-27T14:43:59Z<p>Cdewagter: Cdewagter uploaded a new version of File:Lisa mx s v1 0.png</p>
<hr />
<div>Lisa-MX-S v1.0</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Lisa/MXS_v1.0&diff=23696Lisa/MXS v1.02017-06-27T14:28:34Z<p>Cdewagter: Lisa/MXS/v1.0</p>
<hr />
<div>Lisa/Mx-Small is a smaller version of [[Lisa/M]] with an STM32F4 processor for only 1.45 gram. See Lisa-Mx for more information.<br />
<br />
<div style="float: right; width: 100%"><br />
[[Image:Lisa mx s v1 0.png|500px]]<br />
</div></div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=File:Lisa_mx_s_v1_0.png&diff=23695File:Lisa mx s v1 0.png2017-06-27T14:22:32Z<p>Cdewagter: </p>
<hr />
<div>Lisa-MX-S v1.0</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Modems/xbee&diff=20526Modems/xbee2015-12-21T15:44:12Z<p>Cdewagter: fast xbee</p>
<hr />
<div>Paparazzi supports the following modem protocols:<br />
* Standard transparent serial (pprz protocol, AT mode) - compatible with all modems and can be used to connect the autopilot directly to a PC for testing without a modem.<br />
* Digi (formerly Maxstream) API protocol (xbee) - compatible with all Digi modems including the 9XTend and Zigbee. This protocol enables hardware addressing through API mode, allowing multiple aircraft to be managed from a single ground modem.<br />
<br/><br />
<br />
== Introduction ==<br />
<br />
=== Installation of X-CTU ===<br />
The simplest way to configure the XBee modems is to use the [http://www.digi.com/support/productdetail?pid=3352 X-CTU] software from Digi. It runs under MacOS X, Windows, under Wine and since version 6 also natively under Linux.<br />
<br />
==== Installation using Wine ====<br />
Under Wine make sure you have the USB serial link connecting to XBee mapped to a com port (please consult [[Installation/Linux/udev | paparazzi linux device naming]]):<br />
<br />
* First of all you should install wine.<br />
* Then install winetricks (X-CTU requires MS Visual C++ Redistributable package so winetricks will make things much easier to get installed).<br />
* Then ('''!important''') run wine configuration before doing something else, so wine can create ~/.wine<br />
* Make symlink to your modem device.<br />
<br />
$ sudo ln -s /dev/paparazzi/xbee ~/.wine/dosdevices/com4<br />
<br />
* Set permissions for COM port (if you are not root):<br />
<br />
$ sudo ls -l /dev/paparazzi/xbee<br />
lrwxrwxrwx 1 root root 10 june 14 19:00 /dev/paparazzi/xbee -> /dev/ttyUSB0<br />
$ sudo chown <your_user_name_here> /dev/ttyUSB0<br />
<br />
* Run X-CTU setup and install it.<br />
* Then run installed application. When window opens switch to "User Com Ports" tab and add com port "COM4. Note: This procedure have to be made every time you start X-CTU on Linux.<br />
* Click "Test/Query" button. If you get some modem information (like serial, etc.) after a little time, then you have modem link established.<br />
<br />
If X-CTU complains on com port connectivity, try adding theese strings to ~/.wine/system.reg<br />
[hardware\\DEVICEMAP\\SERIALCOMM]<br />
"COM1"="COM1"<br />
<br />
If your X-CTU does not update its firmware correctely from the web, follow the steps described in the chapter "Manually Update the X-CTU firmware files" of [http://wiki.openpilot.org/display/Doc/Configure+Xbee+via+Linux this page].<br />
<br />
=== Configuring XBee AT mode using X-CTU ===<br />
This is the recommended way to start. With this firmware the modems basically act as a serial link replacement and don't do any mesh networking. The pprz protocol is based on this mode.<br />
<br/><br />
Basic approach:<br />
# Connect your XBee to your PC. There are several vendors of [[Modems#GCS_Adaptation|USB boards]].<br />
# Start the X-CTU programm and go to the modem configuration.<br />
# Click on READ<br />
# Select the appropriate function set with AT command set.<br />
# set PAN ID, etc... depending on which XBee you use<br />
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly. At a higher baudrate setting, transmission can only be done in one direction.<br />
# Then write the firmware to the module.<br />
If X-CTU asks you to reset the XBee, you have to connect the RST pin (5) to the GND pin (10) of the XBee. You can do this manually using tweezers or a short wire.<br />
<br />
=== Configuring XBee using a terminal emulator ===<br />
<br />
Alternatively you can configure your XBee using a text-based modem control and terminal emulation program, such as [http://en.wikipedia.org/wiki/Minicom Minicom] for Linux or [http://freeware.the-meiers.org CoolTerm] for Linux, Mac OSX, or Windows.<br />
<br />
The xBee modules can be set to the following baud rates:<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"<br />
!''Baud Code''!!''Baud Rate''!!''Notes''<br />
|-<br />
|0||1200||<br />
|-<br />
|1||2400||<br />
|-<br />
|2||4800||<br />
|-<br />
|3||9600||<br />
|-<br />
|4||19200|| Use with fixedwing aircraft and their GCSs<br />
|-<br />
|5||38400||<br />
|-<br />
|6||57600|| Use with rotorcraft or transitioning aircraft and their GCSs<br />
|-<br />
|7||115200||<br />
|}<br />
<br />
'''Quick, I'm in a rush''':<br />
$ sudo screen /dev/ttyUSB0 9600<br />
+++<br />
ATBD6<enter><br />
ATAP1<enter><br />
ATWR<enter><br />
<br />
<br />
'''Minicom Instructions''':<br />
* Connect XBee to your computer<br />
* Setup minicom (by default XBee modems come set up for 9600 baud) 8-N-1 <br />
* Type Ctrl-A A in minicom this will set it up to add linefeeds to the stream<br />
* Type three '+' in quick succession resulting in "+++" string (you have 10s to type your next command otherwise the modem will revert back to transparent mode). Do NOT press enter.<br />
** you get a confirmation: 'OK'<br />
* Type "AT<enter>"<br />
** you get a confirmation: 'OK'<br />
* Type "ATBD<enter>"<br />
** you get the current baudrate code: '3'<br />
* To set another baudrate select one from the above table and type "ATBD <baud code><enter>":<br />
* Type "ATAP 0 or 1 for API mode or not<enter>"<br />
* To store the new baudrate in the rom type "ATWR<enter>"<br />
* Now you can close minicom<br />
* Reconnect modem<br />
* Restart minicom with the new baudrate<br />
* Test that the modem is setup correctly by typing "+++" and getting "OK" confirmation<br />
<br />
'''CoolTerm Instructions''':<br />
* Connect xBee to your computer<br />
* Open CoolTerm and click 'Options.' From the 'Serial Port' tab select:<br />
**Port: USB Serial (or as appropriate for your xBee carrier board)<br />
**Baudrate: 9600<br />
**Data Bits: 8<br />
**Parity: None<br />
**Stop Bits 1<br />
*From the 'Terminal' tab enable Local Echo<br />
*Click OK<br />
*Click Connect<br />
* Type three '+' in quick succession resulting in "+++" string (you have 10s to type your next command otherwise the modem will revert back to transparent mode). Do NOT press enter.<br />
** you get a confirmation: 'OK'<br />
* Type "AT<enter>"<br />
** you get a confirmation: 'OK'<br />
* Type "ATBD<enter>"<br />
** you get the current baudrate code: '3'<br />
* To set another baudrate select one from the above table and type "ATBD <baud code><enter>":<br />
* To store the new baudrate in the rom type "ATWR<enter>"<br />
* Now you can close CoolTerm.<br />
* Reconnect modem<br />
* Restart CoolTerm, change options to new baudrate, and connect<br />
* Test that the modem is setup correctly by typing "+++" and getting "OK" confirmation<br />
<br />
== XBee Pro ZB (AT command set) ==<br />
This 2.4GHz modem uses ZigBee PRO Feature Set and is compatible with devices from other vendors using the ZigBee PRO Feature Set.<br />
<br />
=== Flashing the airborne module ===<br />
# Connect your XBee, start X-CTU, click READ<br />
# Select the function set '''ZIGBEE END DEVICE AT''' (or ZIGBEE ROUTER AT).<br />
# Set the PAN ID to any number, must be the same as the pan id of the coordinator (Ground Station).<br />
# Set the Node Identifier (NI) to your aircraft name or any other appropriate name.<br />
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.<br />
# Then write the firmware to the module.<br />
<br />
=== Flashing the ground station module ===<br />
# Connect your XBee, start X-CTU, click READ<br />
# Select the function set '''ZIGBEE COORDINATOR AT'''.<br />
# Set the PAN ID to any number, must be the same as the pan id of the end device (aircraft).<br />
# Set the Node Identifier (NI) to PPRZ_GROUND or any other appropriate name.<br />
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.<br />
# Then write the firmware to the module.<br />
<br />
=== Pairing your Modems ===<br />
<br />
For maximum performance you can pair the ground modem to the airborne modem. Set the "DH - Destination Address High" and "DL - Destination Address Low" to the unique serial number "SH - Serial Number High" and "SL - Serial Number Low" of the other modem. Do so both on the ground modem and on the airborne modem. Failing to properly pair your modems will likely result in poor throughput and data loss between your airframe and your ground control station. If this is the case you may see errors on the Paparazzi Center console like <tt>Failure("Pprz.values_of_payload, wrong argument: 00 08 ")</tt> or <tt>Failure("Pprz.values_of_payload, too many bytes in message PONG: 00 03 02 2a 00 00 00 00 00 00 00 00 00 00 00 00 ")</tt>. Pairing does help and the error messages will disappear. <br />
<br />
=== Reviving a non-responding Xbee Pro ===<br />
<br />
To bring an apparently dead XBee Pro Series 2 back to life, do the following:<br />
<br />
#Connect the USB device that holds the XBee to your laptop/desktop (without the XBee connected).<br />
#Open X-CTU.<br />
#In the tab used to program the device, select the proper modem (normally you would do a READ to get the values).<br />
#Choose the option you want to program (i.e., "END DEVICE" or "COORDINATOR") as if you were programming it.<br />
#With the XBee not in the device, click "WRITE". It will hang, timeout, and bring up a dialog box.<br />
#Before you click OK to the dialog box, plug in the XBee module (carefully).<br />
#Click OK to clear the message and it should start programming automatically.<br />
<br />
=== Other tutorials ===<br />
<br />
[http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee PixHawk: HowTo configure XBee]<br />
<br />
[http://wiki.openpilot.org/display/Doc/Configure+Xbee+via+Linux openpilot: XBee RF modems]<br />
<br />
== XBee Pro ZNet 2.5 (AT command set) ==<br />
These are legacy modems and not recommended/sold by Digi anymore.<br />
It is recommended to upgrade these to XBee Pro ZB with the [ftp://ftp1.digi.com/support/images/ZNet%202.5%20to%20ZB%20Conversion%20Kit.zip ZNet 2.5 to ZB Conversion Kit] from Digi.<br />
<br/><br />
If you want to use ZNet 2.5 feature set nevertheless, here is how to configure it:<br />
<br />
=== Flashing the airborne module ===<br />
# Connect your XBee, start X-CTU, click READ<br />
# Select the function set '''ZNET 2.5 ROUTER/END DEVICE AT'''.<br />
# Set the PAN ID to any number, must be the same as the pan id of the coordinator (Ground Station).<br />
# Set the Node Identifier (NI) to your aircraft name or any other appropriate name.<br />
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.<br />
# Then write the firmware to the module.<br />
<br />
=== Flashing the ground station module ===<br />
# Connect your XBee, start X-CTU, click READ<br />
# Select the function set '''ZNET 2.5 COORDINATOR DEVICE AT'''.<br />
# Set the Destination Address Low (DL) to FFFF.<br />
# Set the PAN ID to any number, must be the same as the pan id of the end device (aircraft).<br />
# Set the Node Identifier (NI) to PPRZ_GROUND or any other appropriate name.<br />
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.<br />
# Then write the firmware to the module.<br />
<br />
=== Setup ===<br />
<br />
For the ZigBee ZNet 2.5 and ZB modules to work one of the modules has to be flashed with the coordinator firmware. All the others in the same PAN can either run as routers or end-devices.<br />
* Flash one module (ground station) with the coordinator AT firmware<br />
* Flash aircraft module with router or end-device AT firmware<br />
To allow modules to join any PAN set the PAN ID to zero (default setting). Then the coordinator will generate a random PAN ID and routers and end-devices will join the first PAN they find.<br />
<br />
If you operate in an environment with multiple zigbee PANs it is recommended to set the PAN ID explicitly:<br />
* Set PAN ID to some unique (but same) ID on both modules<br />
* Set a Node Identifier for each module (e.g. ground, aircraft)<br />
<br/><br />
<br />
== XBee Pro DigiMesh / 802.15.4 ("Series 1") ==<br />
<br />
=== Flashing the airborne module ===<br />
# Connect your XBee, start X-CTU, click READ<br />
# Leave the function set on '''XBEE PRO 802.15.4'''.<br />
# Set the PAN ID to any number, must be the same as the pan id of the coordinator (Ground Station).<br />
# Set the Node Identifier (NI) to your aircraft name or any other appropriate name.<br />
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.<br />
# Then write the firmware to the module.<br />
<br />
=== Flashing the ground station module ===<br />
# Connect your XBee, start X-CTU, click READ<br />
# Leave the function set on '''XBEE PRO 802.15.4'''.<br />
# '''Set Coordinator Enable to "1 - COORDINATOR".'''<br />
# Set the PAN ID to any number, must be the same as the pan id of the end device (aircraft).<br />
# Set the Node Identifier (NI) to PPRZ_GROUND or any other appropriate name.<br />
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.<br />
# Then write the firmware to the module.<br />
<br />
(Tested on XBP24 Firmwareversion 10E6)<br />
<br />
== XBee Pro 868 MHZ ==<br />
<br />
=== Getting Them Working ===<br />
Even with the xbee868.xml telemetry file, XBee868s will not last over 6 minutes. There is a special 868 build flag (in slayer1.xml), and matching option for the datalink but I could not get this to work. Eventually, I got them to work for about 20 minutes, which happily is the flight endurance of a heavily overloaded GWS Formosa.<br />
<br />
I did this using a command window, but you could use X-CTU if you are a wuss or have Windows handy.<br />
<br />
#Attach Xbee and start serial comm program (I use <code>screen /dev/ttyUSB0 &lt;baud rate, just a number, no angled brackets&gt;</code>, you can also use pico- or microcom)<br />
#Type AT and enter. You should get an OK back.<br />
#ATMT and enter. You should get a number&mdash;this represents the number of extra times each packet will be broadcast. We now need to change this to zero.<br />
#ATMT0 and enter => OK<br />
#ATRR and enter. This number is the number of retries that will be sent if an ACK is not received. Disabling this will also have the side effect of disabling ACKs, giving us more packets to play with.<br />
#ATRR0 and enter => OK<br />
#Type ATWR to store the new stuff in the firmware. You should get an OK.<br />
#Set the datalink to transparent mode both in your airframe file and on the datalink.<br />
<br />
You may also want to drop the power level to 1mW for testing, or it won't actually work - they are just too damn powerful to talk to each other at a range of a couple of feet. I also used 1mW for flying - never lost the link, even after a mile. Didn't get round to range testing them though. <br />
<br />
You probably want to do this to both XBees (at least I did). I personally had the baud rate at 57600 for legacy reasons, but it should work just as well at any other baud rate. '''Thanks to CheBuzz for this info''', and for helping me work all this out at 11pm the night before EMAV09.<br />
<br />
== XBee 868LF ==<br />
<br />
These relativly new modems use the whole spectrum allowed in your country to avoid Duty Cycle restrictions.<br />
<br />
== XBee Pro XSC (900MHZ) ==<br />
<br />
== Configuring XBee API mode (xbee protocol) ==<br />
<br />
[[Category:Hardware]] [[Category:User_Documentation]]</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Modems/xbee&diff=20525Modems/xbee2015-12-21T15:42:37Z<p>Cdewagter: quick xbee start</p>
<hr />
<div>Paparazzi supports the following modem protocols:<br />
* Standard transparent serial (pprz protocol, AT mode) - compatible with all modems and can be used to connect the autopilot directly to a PC for testing without a modem.<br />
* Digi (formerly Maxstream) API protocol (xbee) - compatible with all Digi modems including the 9XTend and Zigbee. This protocol enables hardware addressing through API mode, allowing multiple aircraft to be managed from a single ground modem.<br />
<br/><br />
<br />
== Introduction ==<br />
<br />
=== Installation of X-CTU ===<br />
The simplest way to configure the XBee modems is to use the [http://www.digi.com/support/productdetail?pid=3352 X-CTU] software from Digi. It runs under MacOS X, Windows, under Wine and since version 6 also natively under Linux.<br />
<br />
==== Installation using Wine ====<br />
Under Wine make sure you have the USB serial link connecting to XBee mapped to a com port (please consult [[Installation/Linux/udev | paparazzi linux device naming]]):<br />
<br />
* First of all you should install wine.<br />
* Then install winetricks (X-CTU requires MS Visual C++ Redistributable package so winetricks will make things much easier to get installed).<br />
* Then ('''!important''') run wine configuration before doing something else, so wine can create ~/.wine<br />
* Make symlink to your modem device.<br />
<br />
$ sudo ln -s /dev/paparazzi/xbee ~/.wine/dosdevices/com4<br />
<br />
* Set permissions for COM port (if you are not root):<br />
<br />
$ sudo ls -l /dev/paparazzi/xbee<br />
lrwxrwxrwx 1 root root 10 june 14 19:00 /dev/paparazzi/xbee -> /dev/ttyUSB0<br />
$ sudo chown <your_user_name_here> /dev/ttyUSB0<br />
<br />
* Run X-CTU setup and install it.<br />
* Then run installed application. When window opens switch to "User Com Ports" tab and add com port "COM4. Note: This procedure have to be made every time you start X-CTU on Linux.<br />
* Click "Test/Query" button. If you get some modem information (like serial, etc.) after a little time, then you have modem link established.<br />
<br />
If X-CTU complains on com port connectivity, try adding theese strings to ~/.wine/system.reg<br />
[hardware\\DEVICEMAP\\SERIALCOMM]<br />
"COM1"="COM1"<br />
<br />
If your X-CTU does not update its firmware correctely from the web, follow the steps described in the chapter "Manually Update the X-CTU firmware files" of [http://wiki.openpilot.org/display/Doc/Configure+Xbee+via+Linux this page].<br />
<br />
=== Configuring XBee AT mode using X-CTU ===<br />
This is the recommended way to start. With this firmware the modems basically act as a serial link replacement and don't do any mesh networking. The pprz protocol is based on this mode.<br />
<br/><br />
Basic approach:<br />
# Connect your XBee to your PC. There are several vendors of [[Modems#GCS_Adaptation|USB boards]].<br />
# Start the X-CTU programm and go to the modem configuration.<br />
# Click on READ<br />
# Select the appropriate function set with AT command set.<br />
# set PAN ID, etc... depending on which XBee you use<br />
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly. At a higher baudrate setting, transmission can only be done in one direction.<br />
# Then write the firmware to the module.<br />
If X-CTU asks you to reset the XBee, you have to connect the RST pin (5) to the GND pin (10) of the XBee. You can do this manually using tweezers or a short wire.<br />
<br />
=== Configuring XBee using a terminal emulator ===<br />
<br />
Alternatively you can configure your XBee using a text-based modem control and terminal emulation program, such as [http://en.wikipedia.org/wiki/Minicom Minicom] for Linux or [http://freeware.the-meiers.org CoolTerm] for Linux, Mac OSX, or Windows.<br />
<br />
The xBee modules can be set to the following baud rates:<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"<br />
!''Baud Code''!!''Baud Rate''!!''Notes''<br />
|-<br />
|0||1200||<br />
|-<br />
|1||2400||<br />
|-<br />
|2||4800||<br />
|-<br />
|3||9600||<br />
|-<br />
|4||19200|| Use with fixedwing aircraft and their GCSs<br />
|-<br />
|5||38400||<br />
|-<br />
|6||57600|| Use with rotorcraft or transitioning aircraft and their GCSs<br />
|-<br />
|7||115200||<br />
|}<br />
<br />
'''Quick, I'm in a rush''':<br />
* sudo screen /dev/ttyUSB0 9600<br />
* +++<br />
* ATBD6<enter><br />
* ATAP1<enter><br />
* ATWR<enter><br />
<br />
<br />
'''Minicom Instructions''':<br />
* Connect XBee to your computer<br />
* Setup minicom (by default XBee modems come set up for 9600 baud) 8-N-1 <br />
* Type Ctrl-A A in minicom this will set it up to add linefeeds to the stream<br />
* Type three '+' in quick succession resulting in "+++" string (you have 10s to type your next command otherwise the modem will revert back to transparent mode). Do NOT press enter.<br />
** you get a confirmation: 'OK'<br />
* Type "AT<enter>"<br />
** you get a confirmation: 'OK'<br />
* Type "ATBD<enter>"<br />
** you get the current baudrate code: '3'<br />
* To set another baudrate select one from the above table and type "ATBD <baud code><enter>":<br />
* Type "ATAP 0 or 1 for API mode or not<enter>"<br />
* To store the new baudrate in the rom type "ATWR<enter>"<br />
* Now you can close minicom<br />
* Reconnect modem<br />
* Restart minicom with the new baudrate<br />
* Test that the modem is setup correctly by typing "+++" and getting "OK" confirmation<br />
<br />
'''CoolTerm Instructions''':<br />
* Connect xBee to your computer<br />
* Open CoolTerm and click 'Options.' From the 'Serial Port' tab select:<br />
**Port: USB Serial (or as appropriate for your xBee carrier board)<br />
**Baudrate: 9600<br />
**Data Bits: 8<br />
**Parity: None<br />
**Stop Bits 1<br />
*From the 'Terminal' tab enable Local Echo<br />
*Click OK<br />
*Click Connect<br />
* Type three '+' in quick succession resulting in "+++" string (you have 10s to type your next command otherwise the modem will revert back to transparent mode). Do NOT press enter.<br />
** you get a confirmation: 'OK'<br />
* Type "AT<enter>"<br />
** you get a confirmation: 'OK'<br />
* Type "ATBD<enter>"<br />
** you get the current baudrate code: '3'<br />
* To set another baudrate select one from the above table and type "ATBD <baud code><enter>":<br />
* To store the new baudrate in the rom type "ATWR<enter>"<br />
* Now you can close CoolTerm.<br />
* Reconnect modem<br />
* Restart CoolTerm, change options to new baudrate, and connect<br />
* Test that the modem is setup correctly by typing "+++" and getting "OK" confirmation<br />
<br />
== XBee Pro ZB (AT command set) ==<br />
This 2.4GHz modem uses ZigBee PRO Feature Set and is compatible with devices from other vendors using the ZigBee PRO Feature Set.<br />
<br />
=== Flashing the airborne module ===<br />
# Connect your XBee, start X-CTU, click READ<br />
# Select the function set '''ZIGBEE END DEVICE AT''' (or ZIGBEE ROUTER AT).<br />
# Set the PAN ID to any number, must be the same as the pan id of the coordinator (Ground Station).<br />
# Set the Node Identifier (NI) to your aircraft name or any other appropriate name.<br />
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.<br />
# Then write the firmware to the module.<br />
<br />
=== Flashing the ground station module ===<br />
# Connect your XBee, start X-CTU, click READ<br />
# Select the function set '''ZIGBEE COORDINATOR AT'''.<br />
# Set the PAN ID to any number, must be the same as the pan id of the end device (aircraft).<br />
# Set the Node Identifier (NI) to PPRZ_GROUND or any other appropriate name.<br />
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.<br />
# Then write the firmware to the module.<br />
<br />
=== Pairing your Modems ===<br />
<br />
For maximum performance you can pair the ground modem to the airborne modem. Set the "DH - Destination Address High" and "DL - Destination Address Low" to the unique serial number "SH - Serial Number High" and "SL - Serial Number Low" of the other modem. Do so both on the ground modem and on the airborne modem. Failing to properly pair your modems will likely result in poor throughput and data loss between your airframe and your ground control station. If this is the case you may see errors on the Paparazzi Center console like <tt>Failure("Pprz.values_of_payload, wrong argument: 00 08 ")</tt> or <tt>Failure("Pprz.values_of_payload, too many bytes in message PONG: 00 03 02 2a 00 00 00 00 00 00 00 00 00 00 00 00 ")</tt>. Pairing does help and the error messages will disappear. <br />
<br />
=== Reviving a non-responding Xbee Pro ===<br />
<br />
To bring an apparently dead XBee Pro Series 2 back to life, do the following:<br />
<br />
#Connect the USB device that holds the XBee to your laptop/desktop (without the XBee connected).<br />
#Open X-CTU.<br />
#In the tab used to program the device, select the proper modem (normally you would do a READ to get the values).<br />
#Choose the option you want to program (i.e., "END DEVICE" or "COORDINATOR") as if you were programming it.<br />
#With the XBee not in the device, click "WRITE". It will hang, timeout, and bring up a dialog box.<br />
#Before you click OK to the dialog box, plug in the XBee module (carefully).<br />
#Click OK to clear the message and it should start programming automatically.<br />
<br />
=== Other tutorials ===<br />
<br />
[http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee PixHawk: HowTo configure XBee]<br />
<br />
[http://wiki.openpilot.org/display/Doc/Configure+Xbee+via+Linux openpilot: XBee RF modems]<br />
<br />
== XBee Pro ZNet 2.5 (AT command set) ==<br />
These are legacy modems and not recommended/sold by Digi anymore.<br />
It is recommended to upgrade these to XBee Pro ZB with the [ftp://ftp1.digi.com/support/images/ZNet%202.5%20to%20ZB%20Conversion%20Kit.zip ZNet 2.5 to ZB Conversion Kit] from Digi.<br />
<br/><br />
If you want to use ZNet 2.5 feature set nevertheless, here is how to configure it:<br />
<br />
=== Flashing the airborne module ===<br />
# Connect your XBee, start X-CTU, click READ<br />
# Select the function set '''ZNET 2.5 ROUTER/END DEVICE AT'''.<br />
# Set the PAN ID to any number, must be the same as the pan id of the coordinator (Ground Station).<br />
# Set the Node Identifier (NI) to your aircraft name or any other appropriate name.<br />
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.<br />
# Then write the firmware to the module.<br />
<br />
=== Flashing the ground station module ===<br />
# Connect your XBee, start X-CTU, click READ<br />
# Select the function set '''ZNET 2.5 COORDINATOR DEVICE AT'''.<br />
# Set the Destination Address Low (DL) to FFFF.<br />
# Set the PAN ID to any number, must be the same as the pan id of the end device (aircraft).<br />
# Set the Node Identifier (NI) to PPRZ_GROUND or any other appropriate name.<br />
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.<br />
# Then write the firmware to the module.<br />
<br />
=== Setup ===<br />
<br />
For the ZigBee ZNet 2.5 and ZB modules to work one of the modules has to be flashed with the coordinator firmware. All the others in the same PAN can either run as routers or end-devices.<br />
* Flash one module (ground station) with the coordinator AT firmware<br />
* Flash aircraft module with router or end-device AT firmware<br />
To allow modules to join any PAN set the PAN ID to zero (default setting). Then the coordinator will generate a random PAN ID and routers and end-devices will join the first PAN they find.<br />
<br />
If you operate in an environment with multiple zigbee PANs it is recommended to set the PAN ID explicitly:<br />
* Set PAN ID to some unique (but same) ID on both modules<br />
* Set a Node Identifier for each module (e.g. ground, aircraft)<br />
<br/><br />
<br />
== XBee Pro DigiMesh / 802.15.4 ("Series 1") ==<br />
<br />
=== Flashing the airborne module ===<br />
# Connect your XBee, start X-CTU, click READ<br />
# Leave the function set on '''XBEE PRO 802.15.4'''.<br />
# Set the PAN ID to any number, must be the same as the pan id of the coordinator (Ground Station).<br />
# Set the Node Identifier (NI) to your aircraft name or any other appropriate name.<br />
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.<br />
# Then write the firmware to the module.<br />
<br />
=== Flashing the ground station module ===<br />
# Connect your XBee, start X-CTU, click READ<br />
# Leave the function set on '''XBEE PRO 802.15.4'''.<br />
# '''Set Coordinator Enable to "1 - COORDINATOR".'''<br />
# Set the PAN ID to any number, must be the same as the pan id of the end device (aircraft).<br />
# Set the Node Identifier (NI) to PPRZ_GROUND or any other appropriate name.<br />
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.<br />
# Then write the firmware to the module.<br />
<br />
(Tested on XBP24 Firmwareversion 10E6)<br />
<br />
== XBee Pro 868 MHZ ==<br />
<br />
=== Getting Them Working ===<br />
Even with the xbee868.xml telemetry file, XBee868s will not last over 6 minutes. There is a special 868 build flag (in slayer1.xml), and matching option for the datalink but I could not get this to work. Eventually, I got them to work for about 20 minutes, which happily is the flight endurance of a heavily overloaded GWS Formosa.<br />
<br />
I did this using a command window, but you could use X-CTU if you are a wuss or have Windows handy.<br />
<br />
#Attach Xbee and start serial comm program (I use <code>screen /dev/ttyUSB0 &lt;baud rate, just a number, no angled brackets&gt;</code>, you can also use pico- or microcom)<br />
#Type AT and enter. You should get an OK back.<br />
#ATMT and enter. You should get a number&mdash;this represents the number of extra times each packet will be broadcast. We now need to change this to zero.<br />
#ATMT0 and enter => OK<br />
#ATRR and enter. This number is the number of retries that will be sent if an ACK is not received. Disabling this will also have the side effect of disabling ACKs, giving us more packets to play with.<br />
#ATRR0 and enter => OK<br />
#Type ATWR to store the new stuff in the firmware. You should get an OK.<br />
#Set the datalink to transparent mode both in your airframe file and on the datalink.<br />
<br />
You may also want to drop the power level to 1mW for testing, or it won't actually work - they are just too damn powerful to talk to each other at a range of a couple of feet. I also used 1mW for flying - never lost the link, even after a mile. Didn't get round to range testing them though. <br />
<br />
You probably want to do this to both XBees (at least I did). I personally had the baud rate at 57600 for legacy reasons, but it should work just as well at any other baud rate. '''Thanks to CheBuzz for this info''', and for helping me work all this out at 11pm the night before EMAV09.<br />
<br />
== XBee 868LF ==<br />
<br />
These relativly new modems use the whole spectrum allowed in your country to avoid Duty Cycle restrictions.<br />
<br />
== XBee Pro XSC (900MHZ) ==<br />
<br />
== Configuring XBee API mode (xbee protocol) ==<br />
<br />
[[Category:Hardware]] [[Category:User_Documentation]]</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Modems/xbee&diff=20524Modems/xbee2015-12-21T15:24:46Z<p>Cdewagter: </p>
<hr />
<div>Paparazzi supports the following modem protocols:<br />
* Standard transparent serial (pprz protocol, AT mode) - compatible with all modems and can be used to connect the autopilot directly to a PC for testing without a modem.<br />
* Digi (formerly Maxstream) API protocol (xbee) - compatible with all Digi modems including the 9XTend and Zigbee. This protocol enables hardware addressing through API mode, allowing multiple aircraft to be managed from a single ground modem.<br />
<br/><br />
<br />
== Introduction ==<br />
<br />
=== Installation of X-CTU ===<br />
The simplest way to configure the XBee modems is to use the [http://www.digi.com/support/productdetail?pid=3352 X-CTU] software from Digi. It runs under MacOS X, Windows, under Wine and since version 6 also natively under Linux.<br />
<br />
==== Installation using Wine ====<br />
Under Wine make sure you have the USB serial link connecting to XBee mapped to a com port (please consult [[Installation/Linux/udev | paparazzi linux device naming]]):<br />
<br />
* First of all you should install wine.<br />
* Then install winetricks (X-CTU requires MS Visual C++ Redistributable package so winetricks will make things much easier to get installed).<br />
* Then ('''!important''') run wine configuration before doing something else, so wine can create ~/.wine<br />
* Make symlink to your modem device.<br />
<br />
$ sudo ln -s /dev/paparazzi/xbee ~/.wine/dosdevices/com4<br />
<br />
* Set permissions for COM port (if you are not root):<br />
<br />
$ sudo ls -l /dev/paparazzi/xbee<br />
lrwxrwxrwx 1 root root 10 june 14 19:00 /dev/paparazzi/xbee -> /dev/ttyUSB0<br />
$ sudo chown <your_user_name_here> /dev/ttyUSB0<br />
<br />
* Run X-CTU setup and install it.<br />
* Then run installed application. When window opens switch to "User Com Ports" tab and add com port "COM4. Note: This procedure have to be made every time you start X-CTU on Linux.<br />
* Click "Test/Query" button. If you get some modem information (like serial, etc.) after a little time, then you have modem link established.<br />
<br />
If X-CTU complains on com port connectivity, try adding theese strings to ~/.wine/system.reg<br />
[hardware\\DEVICEMAP\\SERIALCOMM]<br />
"COM1"="COM1"<br />
<br />
If your X-CTU does not update its firmware correctely from the web, follow the steps described in the chapter "Manually Update the X-CTU firmware files" of [http://wiki.openpilot.org/display/Doc/Configure+Xbee+via+Linux this page].<br />
<br />
=== Configuring XBee AT mode using X-CTU ===<br />
This is the recommended way to start. With this firmware the modems basically act as a serial link replacement and don't do any mesh networking. The pprz protocol is based on this mode.<br />
<br/><br />
Basic approach:<br />
# Connect your XBee to your PC. There are several vendors of [[Modems#GCS_Adaptation|USB boards]].<br />
# Start the X-CTU programm and go to the modem configuration.<br />
# Click on READ<br />
# Select the appropriate function set with AT command set.<br />
# set PAN ID, etc... depending on which XBee you use<br />
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly. At a higher baudrate setting, transmission can only be done in one direction.<br />
# Then write the firmware to the module.<br />
If X-CTU asks you to reset the XBee, you have to connect the RST pin (5) to the GND pin (10) of the XBee. You can do this manually using tweezers or a short wire.<br />
<br />
=== Configuring XBee using a terminal emulator ===<br />
<br />
Alternatively you can configure your XBee using a text-based modem control and terminal emulation program, such as [http://en.wikipedia.org/wiki/Minicom Minicom] for Linux or [http://freeware.the-meiers.org CoolTerm] for Linux, Mac OSX, or Windows.<br />
<br />
The xBee modules can be set to the following baud rates:<br />
<br />
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"<br />
!''Baud Code''!!''Baud Rate''!!''Notes''<br />
|-<br />
|0||1200||<br />
|-<br />
|1||2400||<br />
|-<br />
|2||4800||<br />
|-<br />
|3||9600||<br />
|-<br />
|4||19200|| Use with fixedwing aircraft and their GCSs<br />
|-<br />
|5||38400||<br />
|-<br />
|6||57600|| Use with rotorcraft or transitioning aircraft and their GCSs<br />
|-<br />
|7||115200||<br />
|}<br />
<br />
'''Minicom Instructions''':<br />
* Connect XBee to your computer<br />
* Setup minicom (by default XBee modems come set up for 9600 baud) 8-N-1 <br />
* Type Ctrl-A A in minicom this will set it up to add linefeeds to the stream<br />
* Type three '+' in quick succession resulting in "+++" string (you have 10s to type your next command otherwise the modem will revert back to transparent mode). Do NOT press enter.<br />
** you get a confirmation: 'OK'<br />
* Type "AT<enter>"<br />
** you get a confirmation: 'OK'<br />
* Type "ATBD<enter>"<br />
** you get the current baudrate code: '3'<br />
* To set another baudrate select one from the above table and type "ATBD <baud code><enter>":<br />
* Type "ATAP 0 or 1 for API mode or not<enter>"<br />
* To store the new baudrate in the rom type "ATWR<enter>"<br />
* Now you can close minicom<br />
* Reconnect modem<br />
* Restart minicom with the new baudrate<br />
* Test that the modem is setup correctly by typing "+++" and getting "OK" confirmation<br />
<br />
'''CoolTerm Instructions''':<br />
* Connect xBee to your computer<br />
* Open CoolTerm and click 'Options.' From the 'Serial Port' tab select:<br />
**Port: USB Serial (or as appropriate for your xBee carrier board)<br />
**Baudrate: 9600<br />
**Data Bits: 8<br />
**Parity: None<br />
**Stop Bits 1<br />
*From the 'Terminal' tab enable Local Echo<br />
*Click OK<br />
*Click Connect<br />
* Type three '+' in quick succession resulting in "+++" string (you have 10s to type your next command otherwise the modem will revert back to transparent mode). Do NOT press enter.<br />
** you get a confirmation: 'OK'<br />
* Type "AT<enter>"<br />
** you get a confirmation: 'OK'<br />
* Type "ATBD<enter>"<br />
** you get the current baudrate code: '3'<br />
* To set another baudrate select one from the above table and type "ATBD <baud code><enter>":<br />
* To store the new baudrate in the rom type "ATWR<enter>"<br />
* Now you can close CoolTerm.<br />
* Reconnect modem<br />
* Restart CoolTerm, change options to new baudrate, and connect<br />
* Test that the modem is setup correctly by typing "+++" and getting "OK" confirmation<br />
<br />
== XBee Pro ZB (AT command set) ==<br />
This 2.4GHz modem uses ZigBee PRO Feature Set and is compatible with devices from other vendors using the ZigBee PRO Feature Set.<br />
<br />
=== Flashing the airborne module ===<br />
# Connect your XBee, start X-CTU, click READ<br />
# Select the function set '''ZIGBEE END DEVICE AT''' (or ZIGBEE ROUTER AT).<br />
# Set the PAN ID to any number, must be the same as the pan id of the coordinator (Ground Station).<br />
# Set the Node Identifier (NI) to your aircraft name or any other appropriate name.<br />
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.<br />
# Then write the firmware to the module.<br />
<br />
=== Flashing the ground station module ===<br />
# Connect your XBee, start X-CTU, click READ<br />
# Select the function set '''ZIGBEE COORDINATOR AT'''.<br />
# Set the PAN ID to any number, must be the same as the pan id of the end device (aircraft).<br />
# Set the Node Identifier (NI) to PPRZ_GROUND or any other appropriate name.<br />
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.<br />
# Then write the firmware to the module.<br />
<br />
=== Pairing your Modems ===<br />
<br />
For maximum performance you can pair the ground modem to the airborne modem. Set the "DH - Destination Address High" and "DL - Destination Address Low" to the unique serial number "SH - Serial Number High" and "SL - Serial Number Low" of the other modem. Do so both on the ground modem and on the airborne modem. Failing to properly pair your modems will likely result in poor throughput and data loss between your airframe and your ground control station. If this is the case you may see errors on the Paparazzi Center console like <tt>Failure("Pprz.values_of_payload, wrong argument: 00 08 ")</tt> or <tt>Failure("Pprz.values_of_payload, too many bytes in message PONG: 00 03 02 2a 00 00 00 00 00 00 00 00 00 00 00 00 ")</tt>. Pairing does help and the error messages will disappear. <br />
<br />
=== Reviving a non-responding Xbee Pro ===<br />
<br />
To bring an apparently dead XBee Pro Series 2 back to life, do the following:<br />
<br />
#Connect the USB device that holds the XBee to your laptop/desktop (without the XBee connected).<br />
#Open X-CTU.<br />
#In the tab used to program the device, select the proper modem (normally you would do a READ to get the values).<br />
#Choose the option you want to program (i.e., "END DEVICE" or "COORDINATOR") as if you were programming it.<br />
#With the XBee not in the device, click "WRITE". It will hang, timeout, and bring up a dialog box.<br />
#Before you click OK to the dialog box, plug in the XBee module (carefully).<br />
#Click OK to clear the message and it should start programming automatically.<br />
<br />
=== Other tutorials ===<br />
<br />
[http://pixhawk.ethz.ch/tutorials/how_to_configure_xbee PixHawk: HowTo configure XBee]<br />
<br />
[http://wiki.openpilot.org/display/Doc/Configure+Xbee+via+Linux openpilot: XBee RF modems]<br />
<br />
== XBee Pro ZNet 2.5 (AT command set) ==<br />
These are legacy modems and not recommended/sold by Digi anymore.<br />
It is recommended to upgrade these to XBee Pro ZB with the [ftp://ftp1.digi.com/support/images/ZNet%202.5%20to%20ZB%20Conversion%20Kit.zip ZNet 2.5 to ZB Conversion Kit] from Digi.<br />
<br/><br />
If you want to use ZNet 2.5 feature set nevertheless, here is how to configure it:<br />
<br />
=== Flashing the airborne module ===<br />
# Connect your XBee, start X-CTU, click READ<br />
# Select the function set '''ZNET 2.5 ROUTER/END DEVICE AT'''.<br />
# Set the PAN ID to any number, must be the same as the pan id of the coordinator (Ground Station).<br />
# Set the Node Identifier (NI) to your aircraft name or any other appropriate name.<br />
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.<br />
# Then write the firmware to the module.<br />
<br />
=== Flashing the ground station module ===<br />
# Connect your XBee, start X-CTU, click READ<br />
# Select the function set '''ZNET 2.5 COORDINATOR DEVICE AT'''.<br />
# Set the Destination Address Low (DL) to FFFF.<br />
# Set the PAN ID to any number, must be the same as the pan id of the end device (aircraft).<br />
# Set the Node Identifier (NI) to PPRZ_GROUND or any other appropriate name.<br />
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.<br />
# Then write the firmware to the module.<br />
<br />
=== Setup ===<br />
<br />
For the ZigBee ZNet 2.5 and ZB modules to work one of the modules has to be flashed with the coordinator firmware. All the others in the same PAN can either run as routers or end-devices.<br />
* Flash one module (ground station) with the coordinator AT firmware<br />
* Flash aircraft module with router or end-device AT firmware<br />
To allow modules to join any PAN set the PAN ID to zero (default setting). Then the coordinator will generate a random PAN ID and routers and end-devices will join the first PAN they find.<br />
<br />
If you operate in an environment with multiple zigbee PANs it is recommended to set the PAN ID explicitly:<br />
* Set PAN ID to some unique (but same) ID on both modules<br />
* Set a Node Identifier for each module (e.g. ground, aircraft)<br />
<br/><br />
<br />
== XBee Pro DigiMesh / 802.15.4 ("Series 1") ==<br />
<br />
=== Flashing the airborne module ===<br />
# Connect your XBee, start X-CTU, click READ<br />
# Leave the function set on '''XBEE PRO 802.15.4'''.<br />
# Set the PAN ID to any number, must be the same as the pan id of the coordinator (Ground Station).<br />
# Set the Node Identifier (NI) to your aircraft name or any other appropriate name.<br />
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.<br />
# Then write the firmware to the module.<br />
<br />
=== Flashing the ground station module ===<br />
# Connect your XBee, start X-CTU, click READ<br />
# Leave the function set on '''XBEE PRO 802.15.4'''.<br />
# '''Set Coordinator Enable to "1 - COORDINATOR".'''<br />
# Set the PAN ID to any number, must be the same as the pan id of the end device (aircraft).<br />
# Set the Node Identifier (NI) to PPRZ_GROUND or any other appropriate name.<br />
# Set the baudrate you want to use. 57600 is the maximum baudrate setting for bidirectional transfers to work correctly.<br />
# Then write the firmware to the module.<br />
<br />
(Tested on XBP24 Firmwareversion 10E6)<br />
<br />
== XBee Pro 868 MHZ ==<br />
<br />
=== Getting Them Working ===<br />
Even with the xbee868.xml telemetry file, XBee868s will not last over 6 minutes. There is a special 868 build flag (in slayer1.xml), and matching option for the datalink but I could not get this to work. Eventually, I got them to work for about 20 minutes, which happily is the flight endurance of a heavily overloaded GWS Formosa.<br />
<br />
I did this using a command window, but you could use X-CTU if you are a wuss or have Windows handy.<br />
<br />
#Attach Xbee and start serial comm program (I use <code>screen /dev/ttyUSB0 &lt;baud rate, just a number, no angled brackets&gt;</code>, you can also use pico- or microcom)<br />
#Type AT and enter. You should get an OK back.<br />
#ATMT and enter. You should get a number&mdash;this represents the number of extra times each packet will be broadcast. We now need to change this to zero.<br />
#ATMT0 and enter => OK<br />
#ATRR and enter. This number is the number of retries that will be sent if an ACK is not received. Disabling this will also have the side effect of disabling ACKs, giving us more packets to play with.<br />
#ATRR0 and enter => OK<br />
#Type ATWR to store the new stuff in the firmware. You should get an OK.<br />
#Set the datalink to transparent mode both in your airframe file and on the datalink.<br />
<br />
You may also want to drop the power level to 1mW for testing, or it won't actually work - they are just too damn powerful to talk to each other at a range of a couple of feet. I also used 1mW for flying - never lost the link, even after a mile. Didn't get round to range testing them though. <br />
<br />
You probably want to do this to both XBees (at least I did). I personally had the baud rate at 57600 for legacy reasons, but it should work just as well at any other baud rate. '''Thanks to CheBuzz for this info''', and for helping me work all this out at 11pm the night before EMAV09.<br />
<br />
== XBee 868LF ==<br />
<br />
These relativly new modems use the whole spectrum allowed in your country to avoid Duty Cycle restrictions.<br />
<br />
== XBee Pro XSC (900MHZ) ==<br />
<br />
== Configuring XBee API mode (xbee protocol) ==<br />
<br />
[[Category:Hardware]] [[Category:User_Documentation]]</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Demystified/Altitude_and_Height&diff=20361Demystified/Altitude and Height2015-09-21T12:59:27Z<p>Cdewagter: typo: 5500ft = FL55</p>
<hr />
<div>=Altitude and Height demystified=<br />
<br />
To reliably takeoff and land an autonomous aircraft the Altitude is a very important factor.<br />
<br />
The outcome of this page after reading will be you will fully understand how '''altitude''' and '''height''' are used within the Paparazzi Autopilot System<br />
<br />
==What is Altitude==<br />
<br />
Altitude in aviation.<br />
<br />
In aviation and in spaceflight, the term altitude can have '''several meanings''', and is always qualified by either explicitly adding a modifier (e.g. "true altitude"), or implicitly through the context of the communication. Parties exchanging altitude information must be clear which definition is being used.[1]<br />
<br />
Aviation altitude is measured using either Mean Sea (MSL) or local ground level (Above Ground Level, or AGL) as the reference datum.<br />
<br />
Pressure altitude divided by 30m (100 feet) as the flight level, and is used above the transition altitude (5500 m (18000 feet) in the US, but may be as low as 910 m (3000 feet) in other jurisdictions); so when the altimeter reads 5500ft on the standard pressure setting (1013.25hPa) the aircraft is said to be at "Flight level 55". When flying at a Flight Level, the altimeter is always set to standard pressure (29.92 inHg / 1013.25 mbar) which means it will indicate zero a the altitude where the set pressure is present.<br />
<br />
On the flight deck, the definitive instrument for measuring altitude is the pressure altimeter, which is an aneroid barometer with a front face indicating distance (feet or metres) instead of atmospheric pressure.<br />
<br />
There are several types of aviation altitude:<br />
<br />
# Indicated altitude is the reading on the altimeter when the altimeter is set to the local barometric pressure at Mean Sea Level.<br />
# Absolute altitude is the height of the aircraft above the terrain over which it is flying. Also referred to feet/metres above ground level (AGL).<br />
# True altitude is the elevation above mean sea level. In UK aviation radiotelephony usage, the vertical distance of a level, a point or an object considered as a point, measured from mean sea level; this is referred to over the radio as altitude.(see QNH)[2]<br />
# Height is the elevation above a ground reference point, commonly the terrain elevation. In UK aviation radiotelephony usage, the vertical distance of a level, a point or an object considered as a point, measured from a specified datum; this is referred to over the radio as height, where the specified datum is the airfield elevation (see QFE)[2]<br />
# Pressure altitude is the elevation above a standard datum air-pressure plane (typically, 1013.25 millibars or 29.92" Hg and 15°C). Pressure altitude and indicated altitude are the same when the altimeter is set to 29.92" Hg or 1013.25 millibars.<br />
# Density altitude is the altitude corrected for non-ISA International Standard Atmosphere atmospheric conditions. Aircraft performance depends on density altitude, which is affected by barometric pressure, humidity and temperature. On a very hot day, density altitude at an airport (especially one at a high elevation) may be so high as to preclude takeoff, particularly for helicopters or a heavily loaded aircraft.<br />
<br />
These types of altitude can be explained more simply as various ways of measuring the altitude:<br />
<br />
# Indicated altitude -- the altimeter reading<br />
# Absolute altitude -- altitude in terms of the distance above the ground directly below it<br />
# True altitude -- altitude in terms of elevation above sea level<br />
# Height -- altitude in terms of the distance above a certain point<br />
# Pressure altitude -- altitude in terms of the air pressure<br />
# Density altitude -- altitude in terms of the density of the air<br />
<br />
==What is height==<br />
<br />
In aviation terminology, the terms height, altitude, and elevation are '''not synonyms'''. Usually, the altitude of an aircraft is measured from sea level, while its height is measured from ground level. Elevation is also measured from sea level, but is most often regarded as a property of the ground. Thus, elevation plus height can equal altitude. But the term altitude has several meanings in aviation; see Altitude in aviation.<br />
<br />
[[Image:Vertical_distances.jpg|thumb|left|Vertical Distances]]<br />
<br />
==MSL==<br />
<br />
Mean sea level (MSL) is a measure of the average height of the ocean's surface (such as the halfway point between the mean high tide and the mean low tide); used as a standard in reckoning land elevation.[1] MSL plays an extremely important role in aviation, where standard sea level pressure is used as the measurement datum of altitude at flight levels.<br />
<br />
=Flightplan=<br />
<br />
The paparazzi Flightplan can contain various values and also the "alt" and "height"<br />
<br />
==What do you call AGL...==<br />
<br />
In the airborne code, NavSetGroundReferenceHere() sets ground_alt to the current altitude (common_nav.c:84). This variable is for example use in HOME mode (nav.c:370) or in the Takeoff and Final block of the basic.xml flight plan. - in the GCS, AGL is computed by subtracting the terrain altitude (from the SRTM model ... if the file is available in data/SRTM) from the current altitude <br />
<br />
Altitude definitions<br />
<br />
* '''hMSL''' : gps.hmsl is height in mm above mean sea level (height above geoid)<br />
<br />
* '''gps altitude''' : gps.lla_pos.alt is height in mm above WGS84 reference ellipsoid <br />
<br />
* '''ground alt''' : ground altitude (above hMSL) defined by flightplan <br />
<br />
For a proper explanation of the differences [http://www.esri.com/news/arcuser/0703/geoid1of3.html read this article]<br />
<br />
Note that JSBsim uses GEOCENTRIC instead of GEODETIC latitude and altitude see [http://www.br.flightgear.org/Docs/Scenery/CoordinateSystem/CoordinateSystem.html FlightGear CoordinateSystem]<br />
<br />
===Waypoints===<br />
<br />
The waypoints are the geographic locations used to specify the trajectories. A waypoint is specified by it's name and coordinates:<br />
<br />
<waypoint name wpx wpy [alt] [height]/> <br />
<br />
where wpx and wpy are real positional coordinates ( lat/lon ) or UTM coordinates ( utm_x0/utm_y0 ) or relative coordinates ( x/y ) in meters from your reference point {0,0} . alt and height are optional parameters and can be used to assign an altitude to a particular waypoint that is different from the globally defined alt parameter of the flightplan. <br />
<br />
TIP: To set the waypoint altitude relative to the ground altitude (ground_alt) of the flight plan for this waypoint, use the height attribute instead of alt.<br />
<br />
An example:<br />
<br />
<waypoints><br />
<waypoint name="HOME" x="0.0" y="30.0"/><br />
<waypoint name="BRIDGEOVERTROUBLEDWATER" x="-100.0" y="60.0" alt="270."/><br />
<waypoint name="MyBarn" x="-130.0" y="217.5" alt="3000."/><br />
<waypoint name="3" x="-30.0" y="50" height="50."/><br />
<waypoint name="4" x="-30.0" y="50." alt="ground_alt + 50"/><br />
<waypoint name="_MYHELPERSPOT" x="-30.0" y="60" height="50."/><br />
<waypoint name="_MYOTHERHELPERSPOT" x="-70.0" y="90" height="70."/><br />
<waypoint name="TOWER" lat="48.858249" lon="2.294494" height="324."/><br />
<waypoint name="MountainCAFE" utm_x0="360284.8" utm_y0="4813595.5" alt="1965."/><br />
</waypoints><br />
<br />
==Notes==<br />
<br />
An aircraft can fly perfectly happy '''below''' sea-level. For example in the Netherlands there are several Airports that lie below sea-level<br />
<br />
From Felix Mailinglist:<br />
it sounds like your waypoints are specified with an altitude lower than your (actual) ground altitude.<br />
<br />
E.g. if in your flight plan you have alt="50" ground_alt="0", your default waypoint altitude (above mean sea level, not above ground) is set to 50m and your ground altitude to 0m.<br />
<br />
Now, if your ground altitude is actually 65m above sea level, the geo_init will set this. But your waypoints are still set to the 50m above sea level, so they will be -15m from your current altitude...<br />
So you should set alt to a value high enough so your waypoints will actually be over ground ;-)<br />
<br />
You can also use the height attribute of the waypoints, e.g. <waypoint name="4" x="-30.0" y="60" height="50."/>, <br />
which will place your waypoint 50m above ground.<br />
<br />
=Abbreviations=<br />
<br />
* '''MSL''' - Mean Sea Level<br />
* '''AMSL''' - Above mean sea level (AMSL) refers to the altitude (in the air) of any object, relative to the average sea level datum.<br />
* '''AGL''' - Above Ground Level<br />
<br />
=Links=<br />
<br />
* http://en.wikipedia.org/wiki/Altitude<br />
* http://en.wikipedia.org/wiki/Height<br />
* http://en.wikipedia.org/wiki/Above_mean_sea_level<br />
* http://en.wikipedia.org/wiki/Ocean_surface_topography<br />
* http://en.wikipedia.org/wiki/Geodetic_system<br />
* http://lists.gnu.org/archive/html/paparazzi-devel/2009-08/msg00033.html</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Lisa/S&diff=19340Lisa/S2015-01-14T13:49:40Z<p>Cdewagter: Pinout error lisa-s 0.1-mavlab</p>
<hr />
<div>[[File:tudelft_logo.jpg|left|120px|link=http://mavlab.lr.tudelft.nl/en/]]<br />
[[File:1bitsquared_logo.png|left|120px|link=http://1bitsquared.com]]<br />
[[Image:Lisa S V0 1 r2 on finger.jpg|300px|right]]<br />
<br />
__TOC__<br />
<br />
== Lisa/S ==<br />
<br />
Lisa/S is a very small general purpose autopilot. The main goal of creating an autopilot of minimal size and weight, while providing enough functionality to enable fully autonomous operation.<br />
<br />
=== Mechanical Dimensions ===<br />
<br />
* '''Size: 20mm x 20mm x 5mm (0.787" x 0.787" x 0.197")'''<br />
* '''Weight: 2.8g (0.1oz)'''<br />
<br />
=== Features ===<br />
<br />
* 72MHz 32bit ARM Cortex M3 MCU with 16KB RAM and 512KB Flash<br />
* Combined 3 Axis Gyroscope and 3 Axis Accelerometer<br />
* 3 Axis Magnetometer<br />
* Barometer (Altimeter)<br />
* Onboard U-Blox GPS<br />
* Pads to simply connect a [[SuperbitRF|Superbit CYRF]] RC and telemetry module<br />
* Switching buck/boost converter allowing wide range of power input making it perfect and stable for operation from a 1S LiPO cell.<br />
* 2 MOSFET switches connected to PWM output channels<br />
* 6 PWM (servo) outputs<br />
* 1 UART port<br />
* 1 CAN interface<br />
* 1 Bind/Boot tact switch<br />
* SWD programming/debugging interface<br />
* Size: 20mm x 20mm x 5mm (0.787" x 0.787" x 0.197")<br />
* Weight: 2.8g (0.1oz)<br />
<br />
=== Pictures ===<br />
<br />
[[Image:Lisa_s_v0_1_r2_top_ruler.jpg|300px]]<br />
[[Image:Lisa_s_v0_1_r2_bottom_ruler.jpg|300px]]<br />
[[Image:Lisa_s_v0_1_r2_top_superbit.jpg|300px]]<br />
[[Image:Lisa_s_v0_1_r2_bottom_superbit.jpg|300px]]<br />
<br />
So if you are ready to make your tiny plane fly autonomously,[http://1bitsquared.com/collections/frontpage/products/lisa-s you can already order one here]<br />
<br />
== Pinout ==<br />
<br />
TODO<br />
<br />
== Block Diagrams ==<br />
<br />
TODO<br />
<br />
== Barometer ==<br />
<br />
In order to use the barometer, you just need to add one line to your firmware block (in your airframe file) :<br />
<br />
{{Box Code|conf/airframes/myplane.xml|<br />
<source lang="xml"><br />
<firmware name="fixedwing"><br />
<target name="ap" board="lisa_s_0.1"><br />
...<br />
</target><br />
...<br />
<define name="USE_BAROMETER" value="TRUE"/><br />
...<br />
</firmware><br />
</source><br />
}}<br />
<br />
Once that line is added to the airframe file, you should be able to get the values of the barometer and paparazzi is going to take them into account when doing it's calculations.<br />
<br />
Warning : the barometer doesn't seams to be working at a higher frequency than 120Hz in a fixed wing airframe. Than mean that in a fixed wing airframe the PERIODIC_FREQUENCY must be equal or lower than 120. In rotorcraft the barometer works fine.<br />
<br />
== Schematics ==<br />
<br />
[[Image:Lisa_s_0_1_r1_schematic.png|300px|thumb|none|Lisa/S V0.1 R1 Schematic]]<br />
[[Image:Lisa_s_1_0_r12_schematic.png|300px|thumb|none|Lisa/S V1.0 R12 Schematic]]<br />
<br />
[[Category:Lisa]] [[Category:User_Documentation]] [[Category:Autopilots]]<br />
<br />
== Availability ==<br />
[[File:1bitsquared_logo.png|100px|link=http://1bitsquared.com]]<br />
<br />
As of 2014-06-25 Lisa/S is available for purchase from [http://1bitsquared.com/products/lisa-s-starter-kit 1 BIT SQUARED].<br />
<br />
== Version 0.1 ==<br />
<br />
One of the earliest versions of the board which is still used in the [http://www.mavlab.info/ MAVlab] of the TU-Delft is the Lisa/S V0.1R2. This version is slightly different from newer versions:<br />
<br />
* The SWIO and GND pin from the Serial Wire Debug (SWD) headers are flipped, such that the order becomes TRACE-SWCLK-SWDIO-GND.<br />
* There is no capacitor to enable a warm start for the GPS.<br />
* Instead of four, only two brushless motors can be connected.</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=File:Ardrone2_hw2.jpg&diff=16044File:Ardrone2 hw2.jpg2013-09-30T14:44:44Z<p>Cdewagter: </p>
<hr />
<div></div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=File:Ardrone2_hw1.jpg&diff=16043File:Ardrone2 hw1.jpg2013-09-30T14:24:36Z<p>Cdewagter: </p>
<hr />
<div></div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Vibration&diff=15107Vibration2013-05-20T07:32:40Z<p>Cdewagter: </p>
<hr />
<div>Vibration can be a major problem in small UAVs (fixedwing and rotorcraft alike). Vibration can come from a variety of sources, but in UAVs the most significant source is rotating machinery, i.e. the primary powerplants in the airframe.<br />
<br />
''Major Sources of Vibration:''<br />
* Main electric motors<br />
* Internal combustion (IC) engines<br />
* Unbalanced propellers<br />
''Minor Sources of Vibration:''<br />
* Flutter or resonance in flight surfaces and airframe<br />
* Actuators or servos for flight or payload control<br />
In general, the main source of thrust will be the primary source of vibration. Electric motors generally do not introduce strong vibrations into the airframe, though an unbalanced propeller on an electric motor can be very noticeable. On the other hand, IC engines, whether glow or spark ignition, usually introduce extreme amounts of vibration into an airframe.<br />
<br />
A brief introduction to vibration can be found on Wikipedia [http://en.wikipedia.org/wiki/Vibration here].<br />
<br />
=== Implications of Vibration ===<br />
Vibration can have many detrimental effects on UAV airframes. Some examples are:<br />
* airframe fatigue<br />
** can affect glue joints or high stress locations<br />
** reduces lifetime of servo actuators<br />
** touching components can wear away at one another<br />
*** fuel line or motor cable on sharp edge of bulkhead<br />
* foaming fuel<br />
* wiring fatigue (including RF connections)<br />
** wire strands on sharp connector or crimp edges<br />
** connectors rated for limited insertions, removals, as well as vibration<br />
** switches can degrade, fail, switch in flight<br />
***look for MIL spec parts with high vibration ratings<br />
* lower flight and powerplant efficiency<br />
* increased sensor noise and bias<br />
** gyros, accelerometers, magnetometers, pressure transducers, etc<br />
* potential for sensor saturation<br />
** in particular, gyros and accelerometers in IMU<br />
* degradation of payload sensor data quality<br />
**especially imagery with CMOS sensors, increase in rolling shutter effects, motion blur, shaky video<br />
<br />
Electronics (PCBs and components) are particularly affected by high frequency vibration. An interesting discussion about vibration isolation of PCBs and their transmissibility and dynamic response can be found in:<br />
''A. Veprik. Vibration protection of critical components of electronic equipment in harsh environmental conditions. Journal of Sound and Vibration, 259(1):161 – 175, 2003.''<br />
<br />
One of the most noticeable problems with high vibrations is in attitude estimation. MEMS gyros and accelerometers can be very sensitive to vibration, and the filtering algorithm can not always fix the problem. The vibration can sometimes cause significant drift or divergence of the filtering algorithm, making the attitude estimation useless.<br />
<br />
Usually large amounts of vibration are obvious based on the feel and sight of a shaking airframe. Measuring the vibration can be very useful. It can provide insight as to the frequency of the vibration and the amplitude of the vibration. If vibration is proving problematic, making a baseline measurement is helpful to compare to vibrations after mitigation modifications. Often, modifications one may think would help deal with the vibration results in an even worse problem! In general, both the amplitudes and dominant frequencies of the vibration will change with modifications.<br />
<br />
Note that vibrations are also quite important for gyro's. On accelerometers the standard deviation is a good measure for the noise band. However, on gyro's it is not the noise band that is detrimental, but the fact that vibrations can change the bias (rapidly). <br />
<br />
MEMS and piezo gyroscopes (actively vibrating elements in x-direction that measure residual vibration in the y-direction since during a rotation due to inertia the active x vibration will lag and be visible in y) are by design always sensitive to vibrations (it's a vibrating element that senses vibrations), temperature (material properties) and g-forces (bending causes capacitive changes while the capacity is used to sense vibrations). <br />
<br />
To limit the effect of external vibrations the resonating frequency is quite high and different on each axis. (20 to 30 kHz) and many other tricks are used. So to asses the damage of external vibrations on gyros you should check the average (bias) with and without external vibrations and look at the vibration spectrum. The biggest problem here is that we are looking at frequencies above the accelerometer measurement range. Anything above 15kHz will have "some" influence in "some" cases.<br />
<br />
=== Mitigating Effects of Vibration ===<br />
There are a number of strategies for mitigating vibration effects in the airframe. The best results are in a combination of both mechanical damping and software filtering. Please note these are NOT equivalent. For example, if the bias of the gyro seems to change significantly at certain throttle settings it can not be undone with filtering afterwards, while mechanical damping can help prevent the bias change in the first place.<br />
<br />
Mechanical isolation is generally best, and can be applied (ideally) at the source of the vibration, or at the interface of a particularly sensitive component (i.e. IMU or camera). Isolating at the source helps all parts of the airframe, not just a single component.<br />
<br />
Good vibration damping is not easy either. Some simple rubber bobbins on PCBs for instance can also increase the vibration amplitude. And the lighter the electronics, the harder it is to dampen it. Very little soft foam on the corners has so far been the best trick. When possible it is good to put the battery + autopilot + all weight that can be found that needs to fly on 1 piece of wood, which is mounted on the fuselage using 4 small corners of foam. The smaller the weight, the looser the dampers you need (i.e. lower spring constant). For example, to dampen a Lisa/M board four pieces of 4x4x10 millimeter of packing-foam in the 4 corners are probably stiff enough.<br />
<br />
Unfortunately, mechanical isolation may not be sufficient under high vibration or for particularly sensitive components. It also may not be practical due to size and weight limitations. In these cases, digital (or analog) filtering may help sensor output. Filtering raw sensor data prior to use for the user or various algorithms has advantages and disadvantages. Depending on the filter chosen, one may lose important information in the signal, induce a time delay detrimental to real-time execution of algorithms, etc. Considerable discussion on digital signal processing and filtering can be found elsewhere. In some cases, small time delays or reduced information content are acceptable compromises for enhance performance elsewhere, like in an AHRS or INS estimator, or when processing or viewing images and video.<br />
<br />
Note that a low-pass filter on the gyroscopes in an IMU is almost never useful, while filtering on the accelerometers is usually better.<br />
<br />
=== IMU + Vibrations and attitude ===<br />
<br />
Be sure to always mind following constraints:<br />
<br />
* mechanical damping until all vibrations are at least withing measurement range at all frequencies : (careful in very small vehicles this vibration might be of higher frequency than the sensor can measure: e.g. 1kHz 20g vibration on aspirin will be seen as measurements of only 6 to 8g while gravity is becomes 0.5g instead of 1g, so not always obvious)<br />
* accelerometer should be filtering BEFORE AHRS computations but with minimal lag (a sudden 45 deg roll should not be counter-compensated for 0.5 seconds just because the accelerometer is slow). With mechanical damping at least gyro and accelero feel the same motion.<br />
* gyro filtering should be AFTER INTEGRTION in ahrs since simple filtering (e.g. xf = (xm-xf)/K ) can distort the integral<br />
* in AHRS with V x omega as compensation for centripetal force: omega is often filled with gyro measurements while in theory it should be the turn rate or looping rate. Short period dynamics of the plane should be filtered out first: e.g. at 20m/s during a 10deg/sec turn (=0.35g) a gust easily makes a 300deg/sec short period oscillation (=10.5g which is not present and not measured either and very quickly screws attitude)<br />
<br />
<br />
=== Case Studies ===<br />
Feel free to add your own case study!<br />
<br />
==== Senior Telemaster with Gas Engine ====<br />
A Senior Telemaster ARF airframe was modified and equipped with a TWOG and Aspirin IMU (among others, see [[UAlberta UASGroup|here]] for details). A 25cc single cylinder 2-stroke electronic ignition gas engine is used to power the aircraft. The light wooden airframe combined with the high power from this engine results in very heavy vibration in the airframe.<br />
<br />
[[File:Vibration_telemaster_fuse.png|none|400px|Acceleration levels at Senior Telemaster fuselage floor]]<br />
[[File:Vibration_telemaster_fuse_fft.png|400px|FFT of acceleration levels at Senior Telemaster fuselage floor]]<br />
<br />
The airframe is configured to use the float_dcm AHRS algorithm. Under these vibration conditions, considerable drift in attitude estimation is visible.<br />
<br />
[[File:DCM_drift_vibration_telemaster.png|600px|none|Attitude drift using DCM algorithm from vibration in Senior Telemaster]]<br />
<br />
To deal with this problem, a mount for the IMU and other electronics was quickly thrown together, with little design. When installed in the airframe, the mount helped reduce high frequency vibration (more than a few hundred Hertz), but did little to mitigate lower frequency vibration. In fact, at a few specific operating frequencies, the mount actually resonated, resulting in WORSE performance. This effect was verified in a controlled vibration environment.<br />
<br />
PICTURE HERE OF SHAKER TABLE<br />
<br />
Based on these results, further investigation was made into isolating the IMU. Two approaches were pursued: a more carefully designed mounting system and software filtering. A number of spring/damper materials were tested, and it was found that latex foam rubber provided good characteristics, with damping and a relatively low spring constant. It is also easy to obtain at model aircraft hobby stores or from memory foam sleep products (pillows, mattresses). After extensive testing, the following was concluded. It is desirable for the natural frequency of the mount to be driven as low as possible. This ensures lowest transmissibility of damaging high frequency vibrations and reduces the amplitude of vibration at lower forcing frequencies. This would imply a low spring constant and/or high mass for the IMU based on the equation for [http://en.wikipedia.org/wiki/Vibration#Free_vibration_without_damping calculating natural frequency]. On the other hand, the IMU can not be allowed extensive motion. Large amplitude linear motion increases accelerometer noise while large angular motions increases gyroscope noise. Thus, the mount must be fairly soft, but with a limited range of motion. The final design is illustrated.<br />
<br />
[[File:Imu_mount_example1.JPG|none|400px|Illustration of IMU mount used in Senior Telemaster]]<br />
<br />
Alone, this new mount was not sufficient in reducing the attitude estimation drift to an acceptable level. In particular, the accelerometers were experiencing considerable noise. An evenly weighted moving average filter was applied in software to all raw accelerometer readings. While this induced a small delay in the sampled data, the DCM algorithm can handle this, as the acceleration is used only as a correction in pitch and roll for the gyro rate data integration. As a comparison, the GPS data comes in at a much slower rate, with some level of delay, and is used to correct yaw. A window size of 8 samples was used in the moving average filter, which, when sampled at 100Hz, does not significantly delay the data. Using this filter, the improvement in the attitude estimation was quite dramatic.<br />
<br />
[[File:Imu_mount_filter_vs_none.png|600px|none|Effect of filtering acceleration data on attitude drift and apparent transmissibility]]<br />
<br />
For interest, the gyro data was filtered in a similar manner to the accelerometer data, and the performance of the DCM algorithm was considerably reduced due to the delay and loss of information for numerical integration from the averaging at these low frequencies.<br />
<br />
A balance must be struck between the mechanical isolation and the filtering to achieve good performance. Work in progress for this aircraft will include designing a better engine mount to try to isolate the vibration at the source.</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Papers&diff=14564Papers2013-03-12T11:43:51Z<p>Cdewagter: </p>
<hr />
<div>__NOTOC__<br />
<br />
Some publications about Paparazzi.<br />
<br />
===2013===<br />
<br />
* ''Multi-Lifting-Device UAV Autonomous Flight at Any Transition Percentage'', Christophe De Wagter, Dirk Dokter, Guido de Croon, Bart Remes. Accepted for publication. EuroGNC2013 <br />
<br />
===2012===<br />
<br />
* ''Multi-point optimization of a propulsion set as applied to a multi-tasking MAV'', Murat Bronz, Jean-Marc Moschetta, and Gautier Hattenberger. In proceedings of the International Micro Aerial Vehicle Conference and Competition, Germany, July 2012<br />
* ''A "no-flow-sensor" wind estimation algorithm for unmanned aerial systems'', Mayer, Hattenberger, Brisset, Jonassen and Reuder. In International Journal of Micro Air Vehicles, Volume 4, N°1, March 2012<br />
<br />
===2011===<br />
<br />
* ''Compact helical ring antenna for iridium communication on UAV'',Morlaas, Chabory, Souny and Hattenberger. In proceedings of ETTC 2011, European Test and Telemetry Conference, 14-16 June 2011, Toulouse, France<br />
<br />
===2010===<br />
<br />
* ''Flying Autonomously to Corsica : A long Endurance Mini-UAV System'', Murat Bronz, Jean-Marc Moschetta and Pascal Brisset. In proceedings of the International Micro Air Vehicle Conference and Flight Competition (IMAV2010) Braunschweig, Germany, 2010<br />
* ''Flight Autonomy of Micro-drone in indoor Environments using LIDAR Flash Camera'', Bertrand Vandeportaele, Aaron Montoya, Simon Lacroix and Gautier Hattenberger. In proccedings of the International Micro Air Vehicle Conference and Flight Competition (IMAV2010) Braunschweig, Germany, 2010<br />
<br />
===2009===<br />
<br />
* ''Towards a Long Endurance MAV'', Murat Bronz, Jean-Marc Moschetta, Pascal Brisset and Michel Gorraz. IJMAV Volume 1 – Number4, 2009<br />
* ''Planification de mission pour une patrouille de micro-drones'', P.S. Huard. Phd Thesis. Institut supérieur de l'aéronautique et de l'espace. Toulouse, France, 18 décembre 2009<br />
* ''Planification de mission pour une patrouille de micro-drones'', P.S. Huard, N. Barnier, P.Brisset, and G. Verfaillie. In Proceedings Journées Francophones Planification Décision Apprentissage (JFPDA 2009), Paris, France, 2009<br />
* ''Online mission planning for a swarm of fixed-wing MAV'', P.S. Huard, N. Barnier, P.Brisset, and G. Verfaillie. In Proceedings of the 4rd US-European Competition and Workshop on Micro Air Vehicle (IMAV09), Floride, 2009<br />
<br />
===2008===<br />
<br />
* ''Multi-UAV control with the Paparazzi system'', P. Brisset and G. Hattenberger. In proceedings of the Conference on Human Operating Unmanned Systems (HUMOUS'08), Brest (France), 2008<br />
<br />
===2007===<br />
<br />
* ''Automated mission planning for a fleet of micro air vehicle'', P.S. Huard, N. Barnier, and C. Pralet. In Proc. of the 3rd US-European Competition and Workshop on Micro Air Vehicle and 7th European Micro Air Vehicle Conference and Flight Competition (MAV07), Toulouse, France, 2007<br />
* ''Paparazzi - The Free Autopilot. Build your own UAV'', Antoine Drouin, Martin Muller. In the 24th Chaos Communication Congress, Berlin, 27-30 december 2007<br />
* ''Reengineering the Paparazzi autopilot navigation system'', Brisset, Drouin, Jestin. In proceedings of IAV 2007, Toulouse, 3-5 september 2007<br />
* ''Rotorcraft trajectory tracking by non linear inverse control'', Drouin, Mora Camino, Branda Ramos. In 6th brazilian conference on dynamics, control and their applications, Campus de Sao José do Rio, avril 2007<br />
<br />
===2006===<br />
<br />
* ''The Paparazzi Solution'', Brisset, Drouin, Gorraz, Huard et Tyler, MAV06, 2006. [http://www.recherche.enac.fr/paparazzi/papers_2006/mav06_paparazzi.pdf Article], [http://www.recherche.enac.fr/paparazzi/papers_2006/mav06_paparazzi_slides.pdf Slides]<br />
<br />
===2005===<br />
<br />
* ''Systèmes interactifs du drone Paparazzi'', Doscot, Masouri et Poupart, ENAC, 2005. [http://www.recherche.enac.fr/paparazzi/papers_2005/rapport_co_ihm.pdf Report (french)]<br />
* ''Drones'', Brisset et Drouin, journées portes ouvertes ENAC, 2005. [http://www.recherche.enac.fr/paparazzi/papers_2005/jpo_2005.pdf Slides (french)]<br />
<br />
===2004===<br />
<br />
* ''Création d'une photo aérienne large à partir d'un flux vidéo enregistré par un mini-drone'' M. Tobie, ENAC, 2004. [http://www.recherche.enac.fr/paparazzi/papers_2004/rapport_a_matthieu.pdf Report (french)]<br />
* ''PaparaDzIY : do-it-yourself UAV'' Brisset et Drouin, Journées Micro Drones, Toulouse, 2004. [http://www.recherche.enac.fr/paparazzi/papers_2004/paparadziy.pdf Slides]<br />
* ''Drones et micro-drones'' Brisset et Drouin, CENA, 2004. [http://www.recherche.enac.fr/paparazzi/papers_2004/drones_et_micro_drones.pdf Slides (french)]<br />
<br />
===2003===<br />
<br />
* ''Calibration d’un capteur IR pour micro drone'' Binas, Deplanche, Hadida, ENAC, 2003. [http://www.recherche.enac.fr/paparazzi/papers_2003/infrared_calib_paper.doc Report (french)] [http://www.recherche.enac.fr/paparazzi/papers_2003/infrared_calib_slides.ppt Slides (french)]<br />
<br />
[[Category:Developer_Documentation]] [[Category:Community]]</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=YAPA/v2.0&diff=13805YAPA/v2.02012-12-04T08:18:39Z<p>Cdewagter: </p>
<hr />
<div><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree><br />
== [[YAPA]] v2 ==<br />
<br />
* [[Media:yapa2.pdf]] Manual Only<br />
* [[Media:yapa2.zip]] Gerbers, BOMs, Pick-Place, PDF<br />
<br />
<gallery><br />
Image:YAPA2_Wiring01.JPG|Wiring for GPS + I2C IMU<br />
Image:YAPA2_02_med.jpg|YAPA2<br />
Image:yapa_v2_xsens.jpg|Sample Use [[http://www.youtube.com/watch?v=_JOgOLuDQXY]]<br />
Image:yapa_tiny_compare.jpg|Comparison<br />
Image:yapa2.jpg|A few<br />
Image:yapa2b.jpg|Running<br />
</gallery><br />
<br><br />
<br />
== Pinout ==<br />
Pins Name and Type are specified with respect to the Autopilot Board<br />
<br />
[[Image:Yapa_v2-00_pinout.png]]<br />
<br />
<br />
=== Features: Changelog from v1 to v2: ===<br />
<br />
* 10 servo's instead of 8 (caution: standard pprz code only drives 8) <br />
* extra ADC<br />
* extra SPI pins<br />
* GPS-reset<br />
* Cam-Switch<br />
* Remotely locatable USB (without need to unsolder the usb on the board)<br />
* Remotely locatable XBee (or other) modem<br />
* Resistor to select RS232 or 3.3V GPS/IMU/Modem<br />
* 3 LED instead of 1<br />
* More space around the mounting holes<br />
<br />
=== 5 Volt - Molex ===<br />
<br />
Several people have asked where to find 5 Volt on yapa. The figure below shows all the power options. Here are some reasons why not all connectors have the 5V:<br />
<br />
* yapa was specially designed to work with rs232 sensors such as XSens Mit-G/Crossbow NAV420/ig500/3DM-GX3/DMS-SGP02/MGL-sp-5 or any of such that all accept direct lipo supply<br />
* the switching 5V is not very clean and not ideal for gps/imu (while many people use it though)<br />
* the 5V is only present at the very top of the board and routing it accross to the bottom (gps/imu headers) would have compromised ground return paths of many signals and would have required more than 2-layer board<br />
* the disadvantage of the 1/10th inch connectors is that they are big. To reduce the size not all pins are routed and not all power supplies are on all headers. <br />
<br />
Other people have indicated that for some components like the GPS they prefered molex after all. While this was not the design goal there are some creative options, especially if you consider that 1.25mm pitch (molex) is nearly exactly half the 1/10th of an inch. See pictures below.<br />
<br />
<gallery><br />
Image:Yapa_v2_5volt.jpg|AutoPilot 5V<br />
Image:Yapa_i2c2.png|Second I2C Port<br />
Image:Yapa_v2_molex_gps.jpg|Molex GPS header<br />
Image:Yapa_v2_molex_3pin_abuse.jpg|Some more significant Molex Abuse<br />
Image:Yapa_v2_molex_3pin_abuse_result.jpg|Result<br />
</gallery><br />
<br />
[[Category:YAPA Autopilots]]</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=File:Yapa_i2c2.png&diff=13804File:Yapa i2c2.png2012-12-04T08:17:54Z<p>Cdewagter: </p>
<hr />
<div></div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=YAPA/v2.0&diff=13803YAPA/v2.02012-12-04T08:17:05Z<p>Cdewagter: </p>
<hr />
<div><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree><br />
== [[YAPA]] v2 ==<br />
<br />
* [[Media:yapa2.pdf]] Manual Only<br />
* [[Media:yapa2.zip]] Gerbers, BOMs, Pick-Place, PDF<br />
<br />
<gallery><br />
Image:YAPA2_Wiring01.JPG|Wiring for GPS + I2C IMU<br />
Image:YAPA2_02_med.jpg|YAPA2<br />
Image:yapa_v2_xsens.jpg|Sample Use [[http://www.youtube.com/watch?v=_JOgOLuDQXY]]<br />
Image:yapa_tiny_compare.jpg|Comparison<br />
Image:yapa2.jpg|A few<br />
Image:yapa2b.jpg|Running<br />
</gallery><br />
<br><br />
<br />
== Pinout ==<br />
Pins Name and Type are specified with respect to the Autopilot Board<br />
<br />
[[Image:Yapa_v2-00_pinout.png]]<br />
<br />
<br />
=== Features: Changelog from v1 to v2: ===<br />
<br />
* 10 servo's instead of 8 (caution: standard pprz code only drives 8) <br />
* extra ADC<br />
* extra SPI pins<br />
* GPS-reset<br />
* Cam-Switch<br />
* Remotely locatable USB (without need to unsolder the usb on the board)<br />
* Remotely locatable XBee (or other) modem<br />
* Resistor to select RS232 or 3.3V GPS/IMU/Modem<br />
* 3 LED instead of 1<br />
* More space around the mounting holes<br />
<br />
=== 5 Volt - Molex ===<br />
<br />
Several people have asked where to find 5 Volt on yapa. The figure below shows all the power options. Here are some reasons why not all connectors have the 5V:<br />
<br />
* yapa was specially designed to work with rs232 sensors such as XSens Mit-G/Crossbow NAV420/ig500/3DM-GX3/DMS-SGP02/MGL-sp-5 or any of such that all accept direct lipo supply<br />
* the switching 5V is not very clean and not ideal for gps/imu (while many people use it though)<br />
* the 5V is only present at the very top of the board and routing it accross to the bottom (gps/imu headers) would have compromised ground return paths of many signals and would have required more than 2-layer board<br />
* the disadvantage of the 1/10th inch connectors is that they are big. To reduce the size not all pins are routed and not all power supplies are on all headers. <br />
<br />
Other people have indicated that for some components like the GPS they prefered molex after all. While this was not the design goal there are some creative options, especially if you consider that 1.25mm pitch (molex) is nearly exactly half the 1/10th of an inch. See pictures below.<br />
<br />
<gallery><br />
Image:Yapa_v2_5volt.jpg|AutoPilot 5V<br />
Image:Yapa_v2_i2c0.png|Second I2C Port<br />
Image:Yapa_v2_molex_gps.jpg|Molex GPS header<br />
Image:Yapa_v2_molex_3pin_abuse.jpg|Some more significant Molex Abuse<br />
Image:Yapa_v2_molex_3pin_abuse_result.jpg|Result<br />
</gallery><br />
<br />
[[Category:YAPA Autopilots]]</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=EnergyControl&diff=13376EnergyControl2012-10-26T12:21:40Z<p>Cdewagter: </p>
<hr />
<div>Some more info [[http://paparazzi.github.com/docs/latest/energy__ctrl_8c.html#details| Doxygen]]<br />
<br />
<br />
== Very Quick I'm feeling Lucky Tuning Manual ==<br />
<br />
Start with:<br />
<br />
=== outerloop: ===<br />
<br />
* '''alt-pgain''' about 0.1 <br />
* '''speed-pgain''' about 0.2<br />
<br />
=== innerloop: ===<br />
<br />
* '''airspeed sp''' -> make sure it is OK<br />
* '''cruise_throttle''' -> your preferred initial cruise throttle: 0.6 ? (this is overruled/adapted by the tot_en_i-gain)<br />
* '''cruise pitch''' -> zero or your preferred initial cruise pitch (this is overruled/adapted by the dis_en_i-gain)<br />
<br />
* '''P_en_tot''' -> 20% of slider<br />
* '''I_en_tot''' -> 20% of slider<br />
* '''P_en_dis''' -> 20% of slider<br />
* '''I_en_dis''' -> 20% of slider<br />
<br />
== More Step By Step ==<br />
<br />
To allow nice step by step tuning with less risk, I recommend to start with the integrators set to zero. <br />
<br />
If you do not thrust your airspeed or IMU you might even start with all '''en_tot''' en '''en_dis''' gains set to zero but with the '''throttle_incr''' gain set to about 0.1 and the '''pitch_of_vz''' set to also about 0.1 to turn it into a traditional old-style fixedwing outerloop (without airspeed). <br />
<br />
A next possible step is to add a very small bit of '''I_th_air'''. This will slowly adapt the cruise throttle to get the correct average airspeed.<br />
<br />
...<br />
<br />
incomplete ...</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=EnergyControl&diff=13375EnergyControl2012-10-26T12:19:50Z<p>Cdewagter: Created page with "Some more info Doxygen == Very Quick I'm feeling Lucky Tuning Manual == Start with: === outerloop: =…"</p>
<hr />
<div>Some more info [[http://paparazzi.github.com/docs/latest/energy__ctrl_8c.html#details| Doxygen]]<br />
<br />
<br />
== Very Quick I'm feeling Lucky Tuning Manual ==<br />
<br />
Start with:<br />
<br />
=== outerloop: ===<br />
<br />
* '''alt-pgain''' about 0.1 <br />
* '''speed-pgain''' about 0.2<br />
<br />
=== innerloop: ===<br />
<br />
* '''airspeed sp''' -> make sure it is OK<br />
* '''cruise_throttle''' -> your preferred initial cruise throttle: 0.6 ? (this is overruled/adapted by the tot_en_i-gain)<br />
* '''cruise pitch''' -> zero or your preferred initial cruise pitch (this is overruled/adapted by the dis_en_i-gain)<br />
<br />
* '''P_en_tot''' -> 20% of slider<br />
* '''I_en_tot''' -> 20% of slider<br />
* '''P_en_dis''' -> 20% of slider<br />
* '''I_en_dis''' -> 20% of slider<br />
<br />
== More Step By Step ==<br />
<br />
To allow nice step by step tuning with less risk, I recommend to start with the integrators set to zero. <br />
<br />
If you do not thrust your airspeed or IMU you might even start with all '''en_tot''' en '''en_dis''' gains set to zero but with the '''throttle_incr''' gain set to about 0.1 and the '''pitch_of_vz''' set to also about 0.1 to turn it into a traditional old-style fixedwing outerloop (without airspeed). <br />
<br />
A next possible step is to add a very small bit of '''I_th_air'''. This will slowly adapt the cruise throttle to get the correct average airspeed.</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Fixedwing_Configuration&diff=13374Fixedwing Configuration2012-10-26T12:05:53Z<p>Cdewagter: </p>
<hr />
<div><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Airframe_Configuration</categorytree><br />
This page describes configuration options <span style="color:red"><b>specific to the fixedwing firmware</b></span> in the [[Airframe_Configuration|airframe file]].<br />
== Firmware and Hardware definitions ==<br />
<br />
=== Select your Board ===<br />
Make sure you use the <b>fixedwing [[Airframe_Configuration#Firmware|firmware]]</b> and choose the correct board, e.g.<br />
{{Box Code|conf/airframes/myplane.xml|<br />
<source lang="xml"><br />
<firmware name="fixedwing"><br />
<target name="sim" board="pc"/><br />
<target name="ap" board="twog_1.0"/><br />
...<br />
</firmware><br />
</source><br />
}}<br />
<br />
=== Infrared Sensors ===<br />
To use the IR sensors for attitude estimation add the infrared module and ahrs infrared subsystem:<br />
{{Box Code|conf/airframes/myplane.xml|<br />
<source lang="xml"><br />
<firmware name="fixedwing"><br />
<target name="ap" board="tiny_2.11"/><br />
...<br />
<subsystem name="ahrs" type="infrared"/><br />
</firmware><br />
<modules><br />
<load name="infrared_adc.xml"/><br />
</modules><br />
</source><br />
}}<br />
<br />
See the [[Module/infrared|infrared module page]] for more details on configuration.<br />
<br />
=== Control loops ===<br />
<br />
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.<br />
<br />
Just specify the appropriate subsystem in your firmware section. You can currently choose between no type (see below) and the types '''adaptive''', '''new''' and '''[[EnergyControl|energy]]'''.<br />
{{Box Code|conf/airframes/myplane.xml|<br />
<source lang="xml"><br />
<firmware name="fixedwing"><br />
<target name="ap" board="tiny_2.11"/><br />
...<br />
<subsystem name="control"/> <br />
<br />
<!-- Different control loop types can be enabled instead (Use only one) --><br />
<subsystem name="control" type="adaptive"/><br />
<subsystem name="control" type="new"/><br />
<subsystem name="control" type="energy"/> <!-- Since v4.1.0 --><br />
<br />
</firmware><br />
</source><br />
}}<br />
<br />
== XML Parameters ==<br />
<br />
<br />
=== Manual ===<br />
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:<br />
<source lang="xml"><br />
<rc_commands><br />
<set command="THROTTLE" value="@THROTTLE"/><br />
<set command="ROLL" value="@ROLL"/><br />
<set command="PITCH" value="@PITCH"/><br />
</rc_commands><br />
</source><br />
This example looks trivial since the channel values have the same name than the commands.<br />
<br />
=== RC commands in Auto ===<br />
To control servos or other servo signal compatible devices by RC in Auto1 or Auto2, define them in the <auto_rc_commands> section.<br />
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:<br />
<source lang="xml"><br />
<auto_rc_commands><br />
<set command="YAW" value="@YAW"/><br />
</auto_rc_commands><br />
</source><br />
To disable this behavior (meaning no RC control of the rudder in auto) define an empty auto_rc_commands section:<br />
<source lang="xml"><br />
<auto_rc_commands><br />
</auto_rc_commands><br />
</source><br />
<br />
=== Autopilot Only Commands ===<br />
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.<br />
<source lang="xml"><br />
<ap_only_commands><br />
<copy command="PAN"/><br />
<copy command="TILT"/><br />
<copy command="SHOOT"/><br />
</ap_only_commands><br />
</source><br />
<br />
=== Auto1 ===<br />
The next section, named <b><tt>AUTO1</tt></b>, gives the maximum roll and pitch (in radians) allowed for the augmented stability mode.<br />
<source lang="xml"><br />
<section name="AUTO1" prefix="AUTO1_"><br />
<define name="MAX_ROLL" value="35" unit="deg"/><br />
<define name="MAX_PITCH" value="5" unit="deg"/><br />
</section><br />
</source><br />
<br />
''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><br />
=== Infrared === <br />
The <b><tt>INFRARED</tt></b> section describes the configuration of the infrared sensors. For additional configuration to change the defaults, see the [[Module/infrared|infrared module page]].<br />
<br />
The only mandatory definitions are the sensor neutral readings and how the IR sensors are mounted.<br />
<br />
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.<br />
<source lang="xml"><br />
<section name="INFRARED" prefix="IR_"><br />
<define name="ADC_IR1_NEUTRAL" value="512"/><br />
<define name="ADC_IR2_NEUTRAL" value="512"/><br />
<define name="ADC_TOP_NEUTRAL" value="512"/><br />
<define name="HORIZ_SENSOR_ALIGNED" value="1"/><br />
</section><br />
</source><br />
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.<br />
<br />
In the example above the horizontal sensor is connected to the airframe in ''aligned'' orientation. The other possibility is ''tilted''.<br />
Define either<br />
* '''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.<br />
or<br />
* '''HORIZ_SENSOR_TILTED''': the sensors are tilted by 45 degrees; ir1 is along rear-left -- front-right, and ir2 along rear-right -- front-left.<br />
If the airframe construction allows choose an aligned sensor orientation since this gives the best stabilization response results.<br />
<br />
=== Gyro ===<br />
'''This section only applies to versions prior to v3.9 when using a gyro with IR sensors.'''<br />
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.(<b><tt>ADC_TEMP_SLOPE=0</tt></b>).<br />
<source lang="xml"><br />
<section name="GYRO" prefix="GYRO_"><br />
<define name="ADC_ROLL_COEFF" value="1"/><br />
<define name="ROLL_NEUTRAL" value="500"/><br />
<define name="ADC_TEMP_NEUTRAL" value="476"/><br />
<define name="ADC_TEMP_SLOPE" value="0"/><br />
</section><br />
</source><br />
<br />
=== Horizontal Control ===<br />
<source lang="xml"><br />
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"><br />
<define name="COURSE_PGAIN" value="0.4"/><br />
<define name="ROLL_MAX_SETPOINT" value="20" unit="deg"/><br />
<define name="ROLL_ATTITUDE_GAIN" value="7500."/><br />
<define name="ROLL_RATE_GAIN" value="1500"/><br />
<define name="PITCH_PGAIN" value="8000."/><br />
<define name="ELEVATOR_OF_ROLL" value="1250"/><br />
</section><br />
</source><br />
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.<br />
<br />
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.<br />
<br />
<br />
'''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''<br />
<br />
''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><br />
<br />
The [[Control_Loops#Fixed-wing_autopilot|graphical representation of the control loops]] can help you to visualize the effect of each gain.<br />
<br />
===Vertical Control===<br />
<source lang="xml"><br />
<section name="VERTICAL CONTROL" prefix="V_CTL_"><br />
<!-- outer loop proportional gain --><br />
<define name="ALTITUDE_PGAIN" value="0.1" unit="(m/s)/m"/><br />
<!-- outer loop saturation --><br />
<define name="ALTITUDE_MAX_CLIMB" value="3." unit="m/s"/><br />
</source><br />
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<br />
<source lang="xml"><br />
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65" unit="%"/><br />
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".4" unit="%"/><br />
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1" unit="%"/><br />
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000" unit="pprz_t"/><br />
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2500" unit="pprz_t"/><br />
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/><br />
<define name="AUTO_THROTTLE_PGAIN" value="0.008" unit="%/(m/s)"/><br />
<define name="AUTO_THROTTLE_IGAIN" value="0.25"/><br />
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.35" unit="rad/(m/s)"/><br />
</source><br />
<br />
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.<br />
<source lang="xml"><br />
<define name="AUTO_PITCH_PGAIN" value="0.1"/><br />
<define name="AUTO_PITCH_IGAIN" value="0.025"/><br />
<define name="AUTO_PITCH_MAX_PITCH" value="30" unit="deg"/><br />
<define name="AUTO_PITCH_MIN_PITCH" value="30" unit="deg"/><br />
</source><br />
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.<br />
<source lang="xml"><br />
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/><br />
</source><br />
THROTTLE_SLEW_LIMITER is the required time is seconds to change throttle from 0% to 100%.<br />
<br />
<br />
'''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'', ''''<br />
<br />
''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><br />
<br />
The [[Control_Loops#Fixed-wing_autopilot|graphical representation of the control loops]] can help you to visualize the effect of each gain.<br />
<br />
=== Misc ===<br />
<source lang="xml"><br />
<section name="MISC"><br />
<define name="NOMINAL_AIRSPEED" value ="12." unit="m/s"/><br />
<define name="CARROT" value="5." unit="s"/><br />
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/><br />
<define name="CONTROL_RATE" value="60" unit="Hz"/><br />
</section><br />
</source><br />
* The "NOMINAL_AIRSPEED" is mainly used in the simulator.<br />
* "CARROT" gives the distance (in seconds, so ground speed is taken into account) between the carrot and the aircraft.<br />
* "KILL_MODE_DISTANCE" is the threshold distance to switch the autopilot into KILL mode (defined descent with no throttle)<br />
* "CONTROL_RATE" is the rate of the low level control loops in Hertz (60 or 20).<br />
<br />
=== Simu ===<br />
Values from this section can be used to tweak the software in the loop (SITL) simulation.<br />
<source lang="xml"><br />
<section name="SIMU"><br />
<define name="WEIGHT" value ="1."/><br />
<define name="YAW_RESPONSE_FACTOR" value ="1."/><br />
<define name="ROLL_RESPONSE_FACTOR" value ="15."/><br />
</section><br />
</source><br />
* "YAW_RESPONSE_FACTOR" adapts the aircraft's turn rate corresponding to a bank angle; a larger value increases the turn radius<br />
* "ROLL_RESPONSE_FACTOR" is basically your aileron efficiency; a higher value increases roll agility<br />
<br />
If you want to use JSBSim as SITL simulator, you have to make some definitions in this section as well; see [[Simulation#JSBSim|here]].<br />
<br />
<br />
[[Category:User_Documentation]] [[Category:Airframe_Configuration]]</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Airframe_Configuration&diff=13315Airframe Configuration2012-10-10T18:38:21Z<p>Cdewagter: </p>
<hr />
<div><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Airframe_Configuration</categorytree><br />
== About ==<br />
The airframe file is the most important configuration file and contains all the hardware and software settings for your airframe. It describes what hardware you have and which firmware, sensors, algorithms, etc. you want to use and also holds your configuration parameters. All gains, trims, and behavior settings are defined with standard XML elements.<br />
<br />
The XML airframe configuration file is located in <tt>conf/airframes/<yourairframe>.xml</tt> and always begins with a <!DOCTYPE airframe SYSTEM "airframe.dtd"> line.<br />
<br />
<b>Also see the wiki pages for [[Fixedwing_Configuration|fixedwing specific configuration]] and [[Rotorcraft_Configuration|rotorcraft specific configuration]].</b><br />
<br />
== Creating a new Aircraft ==<br />
While the airframe file is where you configure most aspects of your aircraft, a fully specified aircraft needs several XML configuration files:<br />
* Airframe (what this page is about)<br />
* [[Flight_Plans|Flight Plan]]<br />
* [[Settings]]<br />
* [[Radio_Control|Radio]] (if you use a PPM based R/C system)<br />
* [[Telemetry]]<br />
Each aircraft is assigned a name, unique ID and the associated configuration files in [[Conf.xml|<tt>conf/conf.xml</tt>]]. To create a new Aircraft, click new in the menu A/C in the [[Paparazzi_Center|Paparazzi Center]] and select your new airframe file, etc. (or specify it by hand in [[Conf.xml|<tt>conf/conf.xml</tt>]]).<br />
<br />
== Firmware and Hardware definitions ==<br />
First you should specify which firmware you want to use, i.e. if you have a <tt>[[Fixedwing_Configuration|fixedwing]]</tt> aircraft or a <tt>[[Rotorcraft_Configuration|rotorcraft]]</tt>:<br />
{{Box Code|conf/airframes/myplane.xml|<br />
<source lang="xml"><br />
<firmware name="fixedwing or rotorcraft"><br />
...<br />
</firmware><br />
</source><br />
}}<br />
=== Select your Board ===<br />
To specify autopilot hardware you are using and it's low-level settings you have to add a ''target'' "ap" (autopilot) with ''board'' attribute.<br />
<br />
Select the appropriate hardware autopilot board you are going to use in your airframe:<br />
"booz_1.0", <br />
"classix", <br />
"hb_1.1", <br />
"lisa_l_1.0", <br />
"lisa_l_1.1", <br />
"lisa_m_1.0", <br />
"lisa_m_2.0", <br />
"logom_2.6", <br />
"navgo_1.0", <br />
"pc", <br />
"sdlog_1.0", <br />
"tiny_0.99", <br />
"tiny_1.1", <br />
"tiny_2.1", <br />
"tiny_2.11", <br />
"twog_1.0", <br />
"yapa_2.0",<br />
"umarim_1.0",<br />
"umarim_lite_2.0"<br />
<br />
{{Box Code|conf/airframes/myplane.xml|<br />
<source lang="xml"><br />
<firmware name="fixedwing or rotorcraft"><br />
<target name="sim" board="pc"/><br />
<target name="ap" board="lisa_m_1.0"/><br />
...<br />
</firmware><br />
</source><br />
}}<br />
<br />
Note that the "pc" is a special kind of "board", and is mostly used only for simulation flights of an autopilot via your computer.<br />
<br />
==== Direct Makefile ====<br />
Optionally you can also add a raw [http://en.wikipedia.org/wiki/Makefile Makefile] section. This is only needed in very advanced setups. For example when testing newly developed hardware.<br />
<br />
=== LEDs ===<br />
You can configure the LEDs on the autopilot to be used for different status indicators:<br />
; ''SYS_TIME_LED'': blinks with 1Hz<br />
; ''AHRS_ALIGNER_LED'': blinks until the AHRS is aligned (gyro bias initilalized) and then stays on<br />
; ''GPS_LED'': blinking if trying to get a fix, on if 3D fix<br />
; ''RADIO_CONTROL_LED'': on if RC signal is ok<br />
; ''BARO_LED'' : only on booz and navgo boards: blinks until baro offset is initialized and then stays on<br />
<br />
Depending on your board some of the LEDs on it are already assigned to some indicators by default, check the appropriate autopilot board page for the defaults.<br />
Use a configure node in the firmware section to assign an indicator to a LED number or disable that with ''none'':<br />
{{Box Code|conf/airframes/myplane.xml|<br />
<source lang="xml"><br />
<firmware name="fixedwing or rotorcraft"><br />
...<br />
<configure name="SYS_TIME_LED" value="1"/><br />
<configure name="RADIO_CONTROL_LED" value="2"/><br />
<configure name="GPS_LED" value="none"/><br />
</firmware><br />
</source><br />
}}<br />
Beware that you can only assign '''one''' indicator to a LED number. So if the LED you want to use is already in use because another indicator is set to that number by default you have to disable that other indicator by setting it to ''none''.<br />
<br />
=== IMU ===<br />
Add the [[Subsystem/imu|imu subsystem]] with the type you are using.<br />
{{Box Code|conf/airframes/myplane.xml|<br />
<source lang="xml"><br />
<firmware name="fixedwing or rotorcraft"><br />
...<br />
<subsystem name="imu" type="aspirin_v1.5"/><br />
</firmware><br />
</source><br />
}}<br />
<br />
See the [[Subsystem/imu|imu subsystem]] page for more details.<br />
Also see the [[ImuCalibration|IMU calibration]] page.<br />
<br />
=== AHRS ===<br />
The [[Subsystem/ahrs|AHRS subsystem]] specifies which attitude estimation filter you are using, e.g. for the complementary filter:<br />
{{Box Code|conf/airframes/myplane.xml|<br />
<source lang="xml"><br />
<firmware name="fixedwing or rotorcraft"><br />
...<br />
<subsystem name="ahrs" type="int_cmpl_euler"/><br />
</firmware><br />
</source><br />
}}<br />
All AHRS algorithms depend on an imu subsystem, except for the ahrs_infrared which depends on the infrared module.<br />
See the [[Subsystem/ahrs|AHRS subsystem page]] for more details.<br />
<br />
=== Radio Control ===<br />
<br />
Supported types are:<br />
* ''ppm''<br />
* ''spektrum''<br />
* ''datalink''<br />
<br />
Just specify the appropriate [[Subsystem/radio_control|radio control subsystem]] in your firmware section, e.g.:<br />
{{Box Code|conf/airframes/myplane.xml|<br />
<source lang="xml"><br />
<firmware name="fixedwing or rotorcraft"><br />
...<br />
<subsystem name="radio_control" type="ppm"/><br />
</firmware><br />
</source><br />
}}<br />
<br />
=== Telemetry (Modem) ===<br />
The modem protocol and baud rate must be set in both the airframe file and ground station. Any standard baud rate can be used, with 9600 being adequate and 57600 recommended for most users to allow high speed telemetry for more detailed flight data analysis. The actual data rate is determined by the number of messages being sent and the period of each message as defined in your [[Telemetry|telemetry file]], e.g. <tt>conf/telemetry/default.xml</tt>. Those wishing to experiment with "alternative" modems can reduce the number and period of each telemetry message to fit within most any bandwidth constraint.<br />
<br />
Paparazzi supports the following modem protocols:<br />
* Standard transparent serial (pprz) - this is compatible with all modems and can be used to connect the autopilot directly to a PC for testing without a modem.<br />
* Maxstream API protocol (xbee) - compatible with all Maxstream modems including the 9XTend and Zigbee. This protocol enables hardware addressing, allowing multiple aircraft to be managed from a single ground modem.<br />
<br />
Just specify the appropriate subsystem in your firmware section. You can currently choose between the types '''transparent''', '''transparent_usb''' and '''xbee_api'''.<br />
<br />
'''The default baudrate is 57600 baud!'''<br />
{{Box Code|conf/airframes/myplane.xml|<br />
<source lang="xml"><br />
<firmware name="fixedwing or rotorcraft"><br />
...<br />
<subsystem name="telemetry" type="transparent"/><br />
</firmware><br />
</source><br />
}}<br />
<br />
See the [[Subsystem/telemetry|telemetry subsystem]] page for more details.<br />
<br />
=== GPS ===<br />
The serial port settings must match that of the GPS and are configured here along with the necessary files to interpret the u-blox UBX binary protocol:<br />
<br />
Just specify the appropriate [[Subsystem/gps|gps subsystem]] in your firmware section. You can currently choose between the types '''ublox''' and '''ublox_utm''' for the older series 4 modules which still provide a UTM message.<br />
{{Box Code|conf/airframes/myplane.xml|<br />
<source lang="xml"><br />
<firmware name="fixedwing or rotorcraft"><br />
...<br />
<subsystem name="gps" type="ublox"/><br />
</firmware><br />
</source><br />
}}<br />
<br />
The correct UART is already defined by default according to your board.<br />
The default GPS baudrate is 38400baud.<br />
<br />
If you need to set different baud rates or UART see the [[Subsystem/gps]] page for the options.<br />
<br />
'''Note:'''<br />
* u-blox GPS modules are factory configured for 9600 baud, 38,400 baud is recommended along with the other required changes. The GPS can be accessed directly thrugh the [[Compiling#USB_flashing|UART Tunnel]] and [[GPS#GPS_configuration_using_U-Center|Configured with u-center]]<br />
<br />
== XML Parameters ==<br />
'''When defining parameters you can use [[Units|automatic unit conversion]] to conveniently set it in e.g. degrees.'''<br />
=== Bat === <br />
This section gives characteristics for monitoring the main power battery.<br />
<br />
<b><tt>MILLIAMP_AT_FULL_THROTTLE</tt></b> represents the actual current (in mA) when full THROTTLE is applied. Note that when flying the current typically is significantly lower than in static tests at home on your workbench. <b><tt>MILLIAMP_AT_FULL_THROTTLE</tt></b> is used to compute the <tt>energy</tt> value of the <tt>BAT</tt> message when no [[Current_sensor|Current sensor]] is mounted in the airframe. This value can also be used in flight plans. For example, if at full throttle your motor consumes 10 Amps, use a value of 10000. You can "tweak" this number after a few flights to match the capacity of your battery. If upon landing your bat.energy messages says that you used 2500 mAh while the energy recharged into the battery is only 2000 mAh, you could reduce the <b><tt>MILLIAMP_AT_FULL_THROTTLE</tt></b> value by 20% to match your in-flight current consumption. This tweaking is most precise if you fly full throttle only (respectively no throttle to glide down again).<br />
<br />
The <b><tt>CURRENT_ESTIMATION_NONLINEARITY</tt></b> can be added to tweak the energy estimation for non full throttle cruise. As the current consumption is nonlinear, at 50% throttle it is likely to be substantially less than 50%. A superellipse is used to approximate this nonlinearity. The default setting is 1.2 and is used if the <b><tt>CURRENT_ESTIMATION_NONLINEARITY</tt></b> is not defined in your airframe file. A value 1 corresponds to linear behaviour, 1.5 corresponds to strong nonlinearity. The tweaking is done same as decribed above for <b><tt>MILLIAMP_AT_FULL_THROTTLE</tt></b>, but only partial throttle (cruise throttle) should be applied in flight.<br />
<br />
If both <b><tt>MILLIAMP_AT_FULL_THROTTLE</tt></b> and <b><tt>CURRENT_ESTIMATION_NONLINEARITY</tt></b> are tweaked well, you get precise energy estimations with less than 5% error independant of your flight pattern without even requiring a [[Current_sensor|current sensor]].<br />
<br />
The <b><tt>CATASTROPHIC_BAT_LEVEL</tt></b> (was previously <b><tt>LOW_BATTERY</tt></b>) value defines the voltage at which the autopilot will lock the throttle at 0% in autonomous mode (kill_throttle mode). This value is also used by the ground server to issue a '''CATASTROPHIC''' alarm message on the bus (this message will be displayed in the console of the GCS). <b><tt>CRITIC</tt></b> and <b><tt>LOW</tt></b> values will also used as threshold for '''CRITIC''' and '''WARNING''' alarms. They are optional and the respective defaults are 10.0 and 10.5V.<br />
<br />
The <b><tt>MAX_BAT_LEVEL</tt></b> may be specified to improve the display of the battery gauge in the strip or in "papgets". Note that this definition is optional, with a default value of 12.5V.<br />
{{Box Code|conf/airframes/myplane.xml|<br />
<source lang="xml"><br />
<section name="BAT"><br />
<define name="MILLIAMP_AT_FULL_THROTTLE" value="12000" unit="mA" /><br />
<define name="CATASTROPHIC_BAT_LEVEL" value="6.0" unit="V"/><br />
<define name="CRITIC_BAT_LEVEL" value="6.5" unit="V"/><br />
<define name="LOW_BAT_LEVEL" value="7.0" unit="V"/><br />
<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/><br />
</section><br />
</source><br />
}}<br />
<br />
The conversion of ADC measurements to Voltage is already defined for the different autopilot boards, if you need to override these defaults you can use the <b><tt>VoltageOfAdc(adc)</tt></b> define.<br />
{{Box Code|conf/airframes/myplane.xml|<br />
<source lang="xml"><br />
<section name="BAT"><br />
...<br />
<define name="VOLTAGE_ADC_A" value="0.0177531"/><br />
<define name="VOLTAGE_ADC_B" value="0.173626"/><br />
<define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/><br />
</section><br />
</source><br />
}}<br />
<br />
=== Modules ===<br />
The [[Modules|modules]] allow to add new code in a flexible way with initialisation, periodic and event functions without modifying the main AP loop.<br />
<br />
<source lang="xml"><br />
<modules main_freq="60"><br />
<load name="demo_module.xml"/><br />
</modules><br />
</source><br />
<br />
* The main_freq parameter (in Hz) allows to specify the frequency of the main loop. Default is 60 Hz<br />
<br />
[[Category:User_Documentation]] [[Category:Airframe_Configuration]]</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Downloads&diff=13286Downloads2012-10-03T06:50:07Z<p>Cdewagter: </p>
<hr />
<div>__TOC__<br />
<br />
'''All official sources, schematics, etc. can be found on the [https://github.com/paparazzi github page of the Paparazzi Autopilot Team].'''<br />
<br />
== Paparazzi Source Code ==<br />
* The main Paparazzi software source code is hosted in the [https://github.com/paparazzi/paparazzi paparazzi repository] on github.<br />
:https://github.com/paparazzi/paparazzi<br />
<br />
'''See [[Git#Get_the_code|getting the code]] on the [[Git]] page for more options and info.'''<br />
<br />
* See the [[Installation#Software_Updates|software updates]] section to update your existing paparazzi code.<br />
== Paparazzi Hardware Plans ==<br />
* Download Eagle files for autopilots, sensors, and miscellaneous hardware.<br />
*: https://github.com/paparazzi/paparazzi-hardware<br />
* Be sure to download both *.brd and *.sch files and use Cadsoft Eagle version 6 or newer to view them. [http://www.cadsoftusa.com/downloads/freewareEagle (free version)]<br />
* If downloading the raw files directly from github fails please clone the repository using git to your computer and try accessing the files again.<br />
<br />
== Paparazzi Boot CD ==<br />
<span style="color:red">Totally out of date, anyone up for creating a new LiveCD/FlashImage?</span><br />
<br />
* Burn this to a CD and boot from it to try Paparazzi without any software changes to your PC! Includes Debian, Paparazzi, and all required libraries.<br />
*: [http://www.recherche.enac.fr/paparazzi/paparazzix/ Download Page]<br />
* Boot the CD, sit back, relax and enjoy the scenery.<br />
*: [[Using the Boot CD]] step by step - howto<br />
<br />
== Paparazzi User's manual ==<br />
* [[Media:Users_manual.pdf|User's Manual]]<br />
<br />
== User Submitted Files ==<br />
* Upload your patches, scripts, etc. here. Please sign your entry!<br />
<br />
=== Matlab Files ===<br />
<br />
=== Other Files ===<br />
<br />
* Link to paparazzi on your gear: [[Image:paparazzi_qr.png|thumb|70px]]<br />
<br />
[[Category:Software]] [[Category:Hardware]] [[Category:Developer_Documentation]] [[Category:User_Documentation]]</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Downloads&diff=13285Downloads2012-10-03T00:16:17Z<p>Cdewagter: </p>
<hr />
<div>__TOC__<br />
<br />
'''All official sources, schematics, etc. can be found on the [https://github.com/paparazzi github page of the Paparazzi Autopilot Team].'''<br />
<br />
== Paparazzi Source Code ==<br />
* The main Paparazzi software source code is hosted in the [https://github.com/paparazzi/paparazzi paparazzi repository] on github.<br />
:https://github.com/paparazzi/paparazzi<br />
<br />
'''See [[Git#Get_the_code|getting the code]] on the [[Git]] page for more options and info.'''<br />
<br />
* See the [[Installation#Software_Updates|software updates]] section to update your existing paparazzi code.<br />
== Paparazzi Hardware Plans ==<br />
* Download Eagle files for autopilots, sensors, and miscellaneous hardware.<br />
*: https://github.com/paparazzi/paparazzi-hardware<br />
* Be sure to download both *.brd and *.sch files and use Cadsoft Eagle version 6 or newer to view them. [http://www.cadsoftusa.com/downloads/freewareEagle (free version)]<br />
* If downloading the raw files directly from github fails please clone the repository using git to your computer and try accessing the files again.<br />
<br />
== Paparazzi Boot CD ==<br />
<span style="color:red">Totally out of date, anyone up for creating a new LiveCD/FlashImage?</span><br />
<br />
* Burn this to a CD and boot from it to try Paparazzi without any software changes to your PC! Includes Debian, Paparazzi, and all required libraries.<br />
*: [http://www.recherche.enac.fr/paparazzi/paparazzix/ Download Page]<br />
* Boot the CD, sit back, relax and enjoy the scenery.<br />
*: [[Using the Boot CD]] step by step - howto<br />
<br />
== Paparazzi User's manual ==<br />
* [[Media:Users_manual.pdf|User's Manual]]<br />
<br />
== User Submitted Files ==<br />
* Upload your patches, scripts, etc. here. Please sign your entry!<br />
<br />
=== Matlab Files ===<br />
<br />
=== Other Files ===<br />
<br />
* Link to paparazzi on your gear: [[Image:paparazzi_qr.png]]<br />
<br />
[[Category:Software]] [[Category:Hardware]] [[Category:Developer_Documentation]] [[Category:User_Documentation]]</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Downloads&diff=13284Downloads2012-10-03T00:15:40Z<p>Cdewagter: </p>
<hr />
<div>__TOC__<br />
<br />
'''All official sources, schematics, etc. can be found on the [https://github.com/paparazzi github page of the Paparazzi Autopilot Team].'''<br />
<br />
== Paparazzi Source Code ==<br />
* The main Paparazzi software source code is hosted in the [https://github.com/paparazzi/paparazzi paparazzi repository] on github.<br />
:https://github.com/paparazzi/paparazzi<br />
<br />
'''See [[Git#Get_the_code|getting the code]] on the [[Git]] page for more options and info.'''<br />
<br />
* See the [[Installation#Software_Updates|software updates]] section to update your existing paparazzi code.<br />
== Paparazzi Hardware Plans ==<br />
* Download Eagle files for autopilots, sensors, and miscellaneous hardware.<br />
*: https://github.com/paparazzi/paparazzi-hardware<br />
* Be sure to download both *.brd and *.sch files and use Cadsoft Eagle version 6 or newer to view them. [http://www.cadsoftusa.com/downloads/freewareEagle (free version)]<br />
* If downloading the raw files directly from github fails please clone the repository using git to your computer and try accessing the files again.<br />
<br />
== Paparazzi Boot CD ==<br />
<span style="color:red">Totally out of date, anyone up for creating a new LiveCD/FlashImage?</span><br />
<br />
* Burn this to a CD and boot from it to try Paparazzi without any software changes to your PC! Includes Debian, Paparazzi, and all required libraries.<br />
*: [http://www.recherche.enac.fr/paparazzi/paparazzix/ Download Page]<br />
* Boot the CD, sit back, relax and enjoy the scenery.<br />
*: [[Using the Boot CD]] step by step - howto<br />
<br />
== Paparazzi User's manual ==<br />
* [[Media:Users_manual.pdf|User's Manual]]<br />
<br />
== User Submitted Files ==<br />
* Upload your patches, scripts, etc. here. Please sign your entry!<br />
<br />
=== Matlab Files ===<br />
<br />
=== Other Files ===<br />
<br />
[[Image:paparazzi_qr.png]]<br />
<br />
[[Category:Software]] [[Category:Hardware]] [[Category:Developer_Documentation]] [[Category:User_Documentation]]</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=File:Paparazzi_qr.png&diff=13283File:Paparazzi qr.png2012-10-03T00:15:16Z<p>Cdewagter: Link to paparazzi on all your gear!</p>
<hr />
<div>Link to paparazzi on all your gear!</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Template:Hotbar&diff=13282Template:Hotbar2012-10-02T22:02:41Z<p>Cdewagter: </p>
<hr />
<div>{|-<br />
| [[Image:wikiicon.png|border|link=Main_Page|Wiki]]<br />
|| [[Image:mainlinglist.png|border|link=http://lists.gnu.org/archive/html/paparazzi-devel/|Mailinglist]]<br />
|| [[Image:githubicon.png|border|link=http://github.com/paparazzi/|GitHib]]<br />
|| [[Image:download.png|border|link=http://github.com/paparazzi/paparazzi/tags|Download]]<br />
|| [[Image:buynow.png|border|link=Get_Hardware|BuyNow]]<br />
|| [[Image:twitter.png|border|link=http://twitter.com/paparazziuas|Twitter]]<br />
|| [[Image:blog.png|border|link=http://paparazziuav.org/|Blog]]<br />
|| [[Image:youtubeicon.png|border|link=http://www.youtube.com/user/paparazziUAS|YouTube]]<br />
|| [[Image:chat.png|border|link=http://webchat.freenode.net/?channels=paparazzi&uio=d4|Chat]]<br />
||<br />
|}</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=File:Buynow.png&diff=13275File:Buynow.png2012-10-02T18:09:26Z<p>Cdewagter: </p>
<hr />
<div></div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Main_Page&diff=13274Main Page2012-10-02T18:09:12Z<p>Cdewagter: </p>
<hr />
<div>__NOTOC__<br />
__NOEDITSECTION__<br />
<br />
{|style="border-spacing:8px;margin:0px -8px" class="MainPageBG" style="width:100%;border:1px solid #9999bf;background-color:#f5fffa;vertical-align:top;color:#000; text-align: left;"<br />
|-<br />
|align="center" colspan="2"| <h2 style="margin:0;background-color:#82add9;font-size:150%;font-weight:bold;border:0px solid #a3bfb1;text-align:center;color:#ffffff;padding:0.2em 0.4em;">Welcome To Paparazzi</h2><br />
|-valign="top"<br />
|<br />
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em;<br />
background:#cedff2;margin:-2px;padding:4px;"><br />
[[Image:favicon32.png|32px]] [[General|General]] <br />
</h3><br />
<div style="padding:6px;"><br />
{{General}}<br />
</div><br />
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em;<br />
background:#cedff2;margin:-2px;padding:4px;"><br />
[[Image:favicon32.png|32px]] [[Hardware|Hardware]] <br />
</h3><br />
<div style="padding:6px;"><br />
{{Hardware}}<br />
</div><br />
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em; <br />
background:#cedff2;margin:-2px;padding:4px;"><br />
[[Image:favicon32.png|32px]] [[Software|Software]] <br />
</h3><br />
<div style="padding:6px;"><br />
{{Software}}<br />
</div><br />
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em;<br />
background:#cedff2;margin:-2px;padding:4px;"><br />
[[Image:favicon32.png|32px]] [[Miscellaneous|Miscellaneous]] <br />
</h3><br />
<div style="padding:6px;"><br />
{{Miscellaneous}}<br />
</div><br />
<!-- Start of right-column --><br />
| class="MainPageBG" style="width:70%;border:1px solid #cedff2;background-color:#f5faff;vertical-align:top"|<br />
{|width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa"<br />
|-valign="top"<br />
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi Project</h2><br />
|-<br />
|style="color:#000"|'''Paparazzi''' is a free and open-source hardware and software project intended to create an exceptionally powerful and versatile autopilot system for fixedwing aircrafts as well as multicopters by allowing and encouraging input from the community. The project includes not only the airborne hardware and software, from voltage regulators and GPS receivers to [http://en.wikipedia.org/wiki/Kalman_filtering Kalman filtering] code, but also a powerful and ever-expanding array of ground hardware and software including modems, antennas, and a highly evolved user-friendly ground control software interface.<br />
|-<br />
|All hardware and software is open-source and freely available to anyone under the [http://www.gnu.org GNU] licencing agreement. [[Get_Hardware| Several vendors]] are currently producing and selling Paparazzi autopilots and popular accessories, making the system easy and affordable to all.<br />
|-<br />
|The key feature of the paparazzi autopilot is its unique combination of inertial measurement and/or infrared thermopiles for attitude sensing, providing a robust and accurate attitude estimate that requires no ground calibration and can recover from any launch attitude.<br />
|-<br />
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi project at ENAC</h2><br />
|-<br />
|The Paparazzi [http://en.wikipedia.org/wiki/Unmanned_Aircraft_System UAS] project is now being used and developed at [http://www.enac.fr/ ENAC University] and the MAVlab of the TU-Delft.<br />
|-<br />
|style="color:#000"|<br />
* [http://paparazzi.enac.fr/debian/ Debian repository] and [https://launchpad.net/~paparazzi-uav/+archive/ppa Ubuntu repository] containing some packages not in the official distribution and required to run Paparazzi.<br />
|-<br />
| <h2 style="margin:0;background-color:#ff9b00;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">Legal disclaimer</h2><br />
|-<br />
|The Paparazzi software and hardware are distributed without any guarantee, in particular they are not certified by any national or international authorities. Before flying, please refer to your country national aviation regulation for Unmanned Aerial Systems, or the one of the country you intend to overfly.<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#ebf5ff;border:1px solid #9dcef2; text-align: justify;"<br />
| <h2 style="margin:0;background-color:#6daef2;font-size:120%;font-weight:bold;border:1px solid #8fa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">Latest stable release</h2><br />
|-<br />
|<h3>v4.0.2_stable</h3><br />
|-<br />
|Download as [https://github.com/paparazzi/paparazzi/tarball/v4.0.2_stable tarball] or [https://github.com/paparazzi/paparazzi/zipball/v4.0.2_stable Zip file] or checkout the '''v4.0''' branch from [[git]].<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="2" style="vertical-align:top;background-color:#ffff;border:1px solid #9dcef2; text-align: justify;"<br />
| <br />
<br />
{|-<br />
| [[Image:wikiicon.png|border|link=Main_Page|Wiki]] <br />
|| [[Image:mainlinglist.png|border|link=http://lists.gnu.org/archive/html/paparazzi-devel/|Mailinglist]] <br />
|| [[Image:githubicon.png|border|link=https://github.com/paparazzi/|GitHib]] <br />
|| [[Image:download.png|border|link=https://github.com/paparazzi/paparazzi/tags|Download]] <br />
|| [[Image:buynow.png|border|link=Get_Hardware|BuyNow]] <br />
|| [[Image:twitter.png|border|link=https://twitter.com/paparazziuas|Twitter]] <br />
|| [[Image:blog.png|border|link=http://paparazziuav.org/|Blog]] <br />
|| [[Image:youtubeicon.png|border|link=http://www.youtube.com/user/paparazziUAS|YouTube]] <br />
|| [[Image:chat.png|border|link=Contact#The_IRC_Chat_Channel|Chat]] <br />
||<br />
|}<br />
<br />
<br />
<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#ebf5ff;border:1px solid #9dcef2; text-align: justify;"<br />
| <h2 style="margin:0;background-color:#9dcef2;font-size:120%;font-weight:bold;border:1px solid #8fa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">Upcoming</h2><br />
<br />
|-<br />
|<h3>September 26-27th, 2012</h3><br />
|-<br />
|<br />
<br />
ENAC will be at the [http://www.uavshow-europe.com/ UAV Show Europe] in Bordeaux, France, for flight demonstrations.<br />
<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#faf5ff;border:1px solid #ddcef2; text-align: justify;"<br />
| <h2 style="margin:0;background-color:#ddcef2;font-size:120%;font-weight:bold;border:1px solid #afa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">News</h2><br />
<br />
|-<br />
|<h3>July 26th, 2012</h3><br />
|-<br />
|[[Image:Dc20-logo_smsq.png|thumb|left|DefCon 20]]<br />
<br />
Paparazzi was at the [https://www.defcon.org/html/defcon-20/dc-20-index.html DefCon 20] conference in Las Vegas, USA from July 26th - 29th 2012.<br />
<br />
|-<br />
|<h3>July 26th, 2012</h3><br />
|-<br />
|[[Image:penguin_logo.gif|thumb|left|Paparazzi<br>The Free Autopilot]]<br />
<br />
<span style="color:red">'''NEW RELEASE!'''</span><br />
<br />
The Paparazzi Development Team is pleased to announce the release of the '''Paparazzi v4.0 stable''' version.<br />
<br />
After several months of testing and debugging, the [[RepositoryStructure|release preparation branch v3.9]] has been released as v4.0. See the [https://github.com/paparazzi/paparazzi/blob/v4.0/CHANGELOG.md changelog] for an overview of new features and bugfixes.<br />
<br />
If you are already using paparazzi with [[Git]], you can switch to this new branch with<br />
<br />
'''<code>git remote update && git checkout v4.0</code>'''.<br />
<br />
For new user, it will be the default branch when getting the [[Installation#Getting_the_Source_Code|source code from Github]]. You can also download a [https://github.com/paparazzi/paparazzi/tarball/v4.0_stable tarball] or [https://github.com/paparazzi/paparazzi/zipball/v4.0_stable Zip file] of the <tt>v4.0_stable</tt> source code.<br />
<br />
|-<br />
|<h3>July 2-6th, 2012</h3><br />
|-<br />
|[[Image:Blender_at_IMAV2012.JPG|thumb|left|Blender: 312mm / 340g]]<br />
<br />
'''Blender''', the small but deserving quadrotor of ENAC Paparazzi Team took the 1st place in "Outdoor autonomy" and 3rd place in "Outdoor dynamics" during [http://www.imav2012.org/ IMAV2012] competition in Braunschweig (Germany). Completing its missions with overflowing enthusiasm thanks to the new [[NavGo_v3|'''NavGo''']] autopilot. NavGo is the latest in the long line of award winning Paparazzi hardware available. See the list of Paparazzi hardware [[Autopilots |here]].<br />
<br />
<br />
|-<br />
|<h3>July 6th, 2012</h3><br />
|-<br />
|[[Image:Atmos.png|thumb|left|[ATMOS|http://www.teamatmos.nl/]]]<br />
<br />
<br />
'''[http://www.teamatmos.nl/ ATMOS]''', a hybrid [http://www.teamatmos.nl/video airplane-quadrotor] developed at the MAVlab of TU-Delft, was awarded third place (out of 140) in the [http://www.uavforge.net/ UAVForge] Competition. There were more than 140 initial [http://www.uavforge.net/uavhtml/milestones.php contestants] and after several selection rounds with only 12 finalists, the paparazzi [[Lisa/M]] powered [http://www.teamatmos.nl/ ATMOS] was one of the few that could actually make it to the remote target site miles away in an RF unfriendly environment. No team fully completed the baseline objectives which is why no prices were issued. The vertical takeoff and landing, together with long range thanks to the wing and flexibility thanks to opensource paparazzi were key factors in this event [http://www.youtube.com/watch?v=81NvfLFzhqQ]. <br />
<br />
But probably more important, the development of [http://www.teamatmos.nl/ ATMOS] has added a new [https://github.com/tudelft/paparazzi/tree/atmos-master4-flyoff code-base] to paparazzi to enable the control of any hybrid [https://github.com/tudelft/paparazzi/blob/atmos-master4-flyoff/sw/airborne/firmwares/rotorcraft/force_allocation_laws.c multi-lifting] device vehicle. ATMOS can take-off vertically as a quadrotor, transition to full forward flight as an airplane but also fly in any intermediate transition stage fully autonomously. So let your imagination go loose!<br />
<br />
|-<br />
|<h3>May 9th, 2012</h3><br />
|-<br />
|[[Image:Git-Logo-2Color.png|thumb|left|[[RepositoryStructure|New git branching model]]]]<br />
<br />
'''In order to improve the development workflow and provide stable releases we have changed our git branching model.'''<br />
<br />
<span style="color:red">'''The branch "master" is now our development branch.'''</span><br />
<br />
* The "dev" branch was renamed to the release preparation branch "v3.9". Switch to this branch if you want stable code.<br />
* "master" was reset to the previous "locm3" branch, where development will happen now with libopencm3 for the STM32 architecture.<br />
<br />
Please see the [[RepositoryStructure]] page for more details.<br />
<br />
As soon as we are ready to release v4.0 the will be tarballs available if you don't want to use [[Git]].<br />
<br />
|-<br />
|<h3>May 8th, 2012</h3><br />
|-<br />
|[[Image:Youtube.png|thumb|left|[http://www.youtube.com/playlist?list=PL91197EBE66E78E38 link to youtube video collection]]]<br />
<br />
A lot of cool stuff is done with paparazzi driven UAV`s<br />
To share the world what the paparazzi community is doing a [http://www.youtube.com/playlist?list=PL91197EBE66E78E38 youtube video play list] generated. If you want your video in there send a youtube link to the mailing list.<br />
<br />
|-<br />
|<h3>April 9th, 2012</h3><br />
|-<br />
|[[Image:Mini-Horus_Launch_in_Mada.jpg|thumb|left|Take off in Madagascar]]<br />
<br />
In March 2012, Paparazzi flew in southern Madagascar in the frame of a multi-university project to study and improve the ecosystem in one of the poorest regions of the world ([http://www.sulama.de Project]). More than 4000 hectares of farm and grassland were photographed in visible and near infrared spectra. More than 8500 photos were taken. Surely one of the biggest missions for science ever flown with Paparazzi.<br />
<br />
|-<br />
|<h3>March 7th, 2012</h3><br />
|-<br />
|[[Image:Sumo_launch.jpg|thumb|left|Take off in Antarctica]]<br />
<br />
In the Antarctic summer of 2011/2012 two teams flew Paparazzi-driven UAS on the southernmost continent. The University of Bergen flew at the Norwegian Troll station ([http://www.youtube.com/watch?v=0T9fyCNLllI video]) and the University of Colorado near the US McMurdo station ([http://dl.dropbox.com/u/53700947/Antarctic_blog/blog_20120124.htm blog], [http://alices-wonderland-adventures.blogspot.com/2012/01/uav-flights-take-2.html blog]). They measured temperature, humidity, pressure, infrared radiation and wind with a Multiplex Funjet plane.<br />
<br />
|-<br />
|<h3>December 26th, 2011</h3><br />
|-<br />
|[[Image:28C3_logo.png|thumb|left|Paparazzi at 28C3]]<br />
<br />
We had a table at the [http://events.ccc.de/congress/2011/wiki/Welcome 28C3] conference.<br />
<br />
|-<br />
|<h3>December 25th, 2011</h3><br />
|-<br />
|[[Image:Cre187-paparazzi.png|thumb|left|CRE187 - Paparazzi]]<br />
<br />
Martin Müller gave a great interview about the history and the inner workings of Paparazzi on [http://cre.fm/cre187 CRE Podcast].<br />
<br />
|-<br />
|<h3>October 5th, 2011</h3><br />
|-<br />
|[[Image:Umarim_v1-0_bottom_side.jpg|thumb|left|Umarim v1.0]]<br />
<br />
ENAC Team [http://paparazzi.enac.fr/wiki/Umarim_v10 Umarim V1.0 autopilot] is now released: LPC based, on-board IMU & barometer, narrow fuselage form factor (56x25mm) and lightweight (9gr) are its main features. Add your favorite GPS receiver and it will fit in your stupidly thin light UAV prototype. But it will also do the job for a big fat one. [http://paparazzi.enac.fr/wiki/Umarim_v10 More info here...]<br />
<br />
|-<br />
|<h3>September 18th, 2011</h3><br />
|-<br />
|[[Image:enac_imav11_1.jpg|thumb|left|IMAV 2011 Outdoor Competition ]]<br />
<br />
This year [http://www.imav2011.org/ IMAV 2011] went really well for all of the participants, we have seen lots of successful flights. ENAC Paparazzi Team took the 2nd place in general "Outdoor Challenge" and [http://paparazzi.enac.fr/wiki/Fire-Storm Fire Storm] demonstrated 105+ minutes of flight and took the "Best Outdoor Endurance Award". He was waiting this day for 2 years since the cancelation of IMAV09. <br />
As an additional information, Fire Storm flew its endurance mission with the new [http://paparazzi.enac.fr/wiki/Umarim_v10 Umarim V1.0] autopilot board which will be released soon.<br />
<br />
|-<br />
|<h3>August 31st, 2011</h3><br />
|-<br />
|[[Image:Quadshot_picture.jpg|thumb|left|The Quadshot]]<br />
<br />
Paparazzi is used in the [http://thequadshot.com Quadshot]: A blend between a quadrocopter and a flying wing. The Quadshot and Paparazzi are also featured in an [http://revision3.com/hak5/backtothestudio episode of Hak5]. You can also skip directly to the [http://www.youtube.com/watch?v=YeP7MMnP33g interview with Piotr] talking about how Paparazzi is used in the Quadshot, and briefly [http://www.youtube.com/watch?v=ANPX3UwRMnw explains the XML airframe file and the GCS].<br />
<br />
|-<br />
|<h3>February 15th, 2011</h3><br />
|-<br />
|[[Image:Finnarp.jpg|thumb|left|Paparazzi in Antarctica]]<br />
<br />
Paparazzi has flown on the southernmost continent: Antarctica. Scientists from the [http://en.ilmatieteenlaitos.fi/press-release/127535 Finnish Meteorological Institute] took three modified Funjets to the Finnish Aboa station and brought them back safely after more than 25 flights. They measured temperature, humidity, pressure, wind direction and speed in altitudes up to 1000m.<br />
<br />
|-<br />
|<h3>February 10th, 2011</h3><br />
|-<br />
|[[Image:ScreenShot.jpg|thumb|left|Paparazzi on OS X]]<br />
<br />
Paparazzi now on OS X. Thanks to the tireless efforts of Eric and Bernard we can all run [http://paparazzi.enac.fr/wiki/InstallationMacOSX Paparazzi on OS X]. Stay tuned Windows fans. Paparazzi on Windows is coming soon.<br />
<br />
|-<br />
|<h3>November 26th, 2010</h3><br />
|-<br />
|[[Image:Wingdrop.png|thumb|left|[http://www.youtube.com/watch?v=TFrognLZ2Ak wingdrop]]]<br />
<br />
There is a [http://www.youtube.com/watch?v=TFrognLZ2Ak video] available that shows how Paparazzis adaptive control loops keep a Twinstar in the air that drops 30% of its right wing with 50% of the aileron and then also switches the right engine off. Another [http://www.youtube.com/watch?v=N0H9xWckeYQ video] shows a Paparazzi quadcopter using adaptive control to stay level after dropping 50% of its total weight.<br />
<br />
|-<br />
<br />
|-<br />
|<h3>November 19th, 2010</h3><br />
|-<br />
|[[Image:Github.png|thumb|left|[[Git]]]]<br />
'''WE MOVED TO GIT!'''<br />
<br />
The paparazzi software repository now has a new happy life on github:<br />
<br />
'''https://github.com/paparazzi/paparazzi'''<br />
<br />
We believe the switch from Subversion to the fast [http://git-scm.com/ git] version control system will make development easier, faster and more fun. It also makes it easier for YOU to contribute. You can easily fork paparazzi on github, commit your bugfixes and new features and send us a pull request.<br />
<br />
More info on how to get the paparazzi code from github can be found [[Git|here]].<br />
<br />
We also want to encourage you to submit bugs or feature requests on the simple [https://github.com/paparazzi/paparazzi/issues github issue tracker].<br />
<br />
|<br />
|-<br />
<br />
<br />
|-<br />
|<h3>August, 2010</h3><br />
|-<br />
|[[Image:OrganizedCode.png|thumb|left|[[User/AirborneCodeReorg|Code Reorganization]]]]<br />
After many years of development, so many new autopilot boards and aircraft types have been added that a [http://en.wikipedia.org/wiki/Source_code sourcecode] reorganization was needed. This undertaking is started and will simplify the continuous evolution of the project.<br />
<br />
To benefit from these important changes, it only requires you to update your airframe configuration document once. After you have updated, you should not notice the significant reorganization that is going on behind the scenes. This change will benefit your aircrafts flying successfully for the years to come. The required changes are described on [[User/AirborneCodeReorg| Update Your Airframe Configuration]]. <br />
<br />
At this point several developments are blocked because of this. Therefor we kindly request you to upgrade your airframe configuration documents as soon as possible and thank you in advance for doing so.<br />
<br />
|<br />
|-<br />
<br />
<br />
|-<br />
|<h3>May 22th, 2010</h3><br />
|-<br />
|[[Image:PascalTPS.jpg|thumb|left|[[Hecto| Pascal Brisset]]]]<br />
Pascal Brisset, also known as Hecto, and the father of the Paparazzi project died in an accident while climbing in the Pyrénées mountains in the south of France.<br />
He had dedicated the last seven years of his life to the success of the project. He was taking care by himself of a huge part of the project. To name only a few : development and maintenance of the entire ground segment, navigation and flight plan algorithms, code generation and build system, distribution packaging, server infrastructure...<br />
<br />
To express your grief, you may want to [[Hecto| leave a note on his wiki page]]<br />
<br />
In respect for his commitment, the Paparazzi project must go on and volunteers wanting to take over tasks are hereby asked to do so.<br />
<br />
|<br />
|-<br />
<br />
<br />
|-<br />
<br />
|<h3>February 19th, 2010</h3><br />
|-<br />
|[[Image:Adler_c.jpg|thumb|left|[[Adler_Uni_Stuttgart| The 'Stuttgarter Adler']]]]<br />
The [http://www.irs.uni-stuttgart.de Institute of space systems] of [http://www.uni-stuttgart.de/index.en.html University of Stuttgart] is using the paparazzi system for large remote sensing aircrafts.<br> <br />
The missions include basic research and environmental monitoring. Payloads of up to 7kg are carried.<br><br><br />
More information can be found on the [[Adler_Uni_Stuttgart|Wiki page]].<br />
|<br />
|-<br />
<br />
<br />
|-<br />
<br />
<br />
|-<br />
|<h3>[[News Archives]]</h3><br />
|-<br />
| style="color:#000"|<br />
[[Image:One_Small_Step.jpg|thumb|left|[[News Archives]]]] [[News Archives|Browse the archives]] for a look back at the earlier days of Paparazzi.<br />
|-<br />
<br />
|}<br />
|}</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Main_Page&diff=13272Main Page2012-10-02T10:43:11Z<p>Cdewagter: </p>
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{|style="border-spacing:8px;margin:0px -8px" class="MainPageBG" style="width:100%;border:1px solid #9999bf;background-color:#f5fffa;vertical-align:top;color:#000; text-align: left;"<br />
|-<br />
|align="center" colspan="2"| <h2 style="margin:0;background-color:#82add9;font-size:150%;font-weight:bold;border:0px solid #a3bfb1;text-align:center;color:#ffffff;padding:0.2em 0.4em;">Welcome To Paparazzi</h2><br />
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[[Image:favicon32.png|32px]] [[General|General]] <br />
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{{General}}<br />
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[[Image:favicon32.png|32px]] [[Hardware|Hardware]] <br />
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{{Hardware}}<br />
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[[Image:favicon32.png|32px]] [[Software|Software]] <br />
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{{Software}}<br />
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[[Image:favicon32.png|32px]] [[Miscellaneous|Miscellaneous]] <br />
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{{Miscellaneous}}<br />
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| class="MainPageBG" style="width:70%;border:1px solid #cedff2;background-color:#f5faff;vertical-align:top"|<br />
{|width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa"<br />
|-valign="top"<br />
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi Project</h2><br />
|-<br />
|style="color:#000"|'''Paparazzi''' is a free and open-source hardware and software project intended to create an exceptionally powerful and versatile autopilot system for fixedwing aircrafts as well as multicopters by allowing and encouraging input from the community. The project includes not only the airborne hardware and software, from voltage regulators and GPS receivers to [http://en.wikipedia.org/wiki/Kalman_filtering Kalman filtering] code, but also a powerful and ever-expanding array of ground hardware and software including modems, antennas, and a highly evolved user-friendly ground control software interface.<br />
|-<br />
|All hardware and software is open-source and freely available to anyone under the [http://www.gnu.org GNU] licencing agreement. [[Get_Hardware| Several vendors]] are currently producing and selling Paparazzi autopilots and popular accessories, making the system easy and affordable to all.<br />
|-<br />
|The key feature of the paparazzi autopilot is its unique combination of inertial measurement and/or infrared thermopiles for attitude sensing, providing a robust and accurate attitude estimate that requires no ground calibration and can recover from any launch attitude.<br />
|-<br />
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi project at ENAC</h2><br />
|-<br />
|The Paparazzi [http://en.wikipedia.org/wiki/Unmanned_Aircraft_System UAS] project is now being used and developed at [http://www.enac.fr/ ENAC University] and the MAVlab of the TU-Delft.<br />
|-<br />
|style="color:#000"|<br />
* [http://paparazzi.enac.fr/debian/ Debian repository] and [https://launchpad.net/~paparazzi-uav/+archive/ppa Ubuntu repository] containing some packages not in the official distribution and required to run Paparazzi.<br />
|-<br />
| <h2 style="margin:0;background-color:#ff9b00;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">Legal disclaimer</h2><br />
|-<br />
|The Paparazzi software and hardware are distributed without any guarantee, in particular they are not certified by any national or international authorities. Before flying, please refer to your country national aviation regulation for Unmanned Aerial Systems, or the one of the country you intend to overfly.<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#ebf5ff;border:1px solid #9dcef2; text-align: justify;"<br />
| <h2 style="margin:0;background-color:#6daef2;font-size:120%;font-weight:bold;border:1px solid #8fa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">Latest stable release</h2><br />
|-<br />
|<h3>v4.0.2_stable</h3><br />
|-<br />
|Download as [https://github.com/paparazzi/paparazzi/tarball/v4.0.2_stable tarball] or [https://github.com/paparazzi/paparazzi/zipball/v4.0.2_stable Zip file] or checkout the '''v4.0''' branch from [[git]].<br />
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| [[Image:wikiicon.png|border|link=Main_Page|W]] <br />
|| [[Image:mainlinglist.png|border|link=http://lists.gnu.org/archive/html/paparazzi-devel/|L]] <br />
|| [[Image:githubicon.png|border|link=https://github.com/paparazzi/|G]] <br />
|| [[Image:download.png|border|link=https://github.com/paparazzi/paparazzi/tags|D]] <br />
|| [[Image:twitter.png|border|link=https://twitter.com/paparazziuas|T]] <br />
|| [[Image:blog.png|border|link=http://paparazziuav.org/|B]] <br />
|| [[Image:youtubeicon.png|border|link=http://www.youtube.com/user/paparazziUAS|Y]] <br />
|| [[Image:chat.png|border|link=Contact#The_IRC_Chat_Channel|C]] <br />
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{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#ebf5ff;border:1px solid #9dcef2; text-align: justify;"<br />
| <h2 style="margin:0;background-color:#9dcef2;font-size:120%;font-weight:bold;border:1px solid #8fa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">Upcoming</h2><br />
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|-<br />
|<h3>September 26-27th, 2012</h3><br />
|-<br />
|<br />
<br />
ENAC will be at the [http://www.uavshow-europe.com/ UAV Show Europe] in Bordeaux, France, for flight demonstrations.<br />
<br />
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{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#faf5ff;border:1px solid #ddcef2; text-align: justify;"<br />
| <h2 style="margin:0;background-color:#ddcef2;font-size:120%;font-weight:bold;border:1px solid #afa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">News</h2><br />
<br />
|-<br />
|<h3>July 26th, 2012</h3><br />
|-<br />
|[[Image:Dc20-logo_smsq.png|thumb|left|DefCon 20]]<br />
<br />
Paparazzi was at the [https://www.defcon.org/html/defcon-20/dc-20-index.html DefCon 20] conference in Las Vegas, USA from July 26th - 29th 2012.<br />
<br />
|-<br />
|<h3>July 26th, 2012</h3><br />
|-<br />
|[[Image:penguin_logo.gif|thumb|left|Paparazzi<br>The Free Autopilot]]<br />
<br />
<span style="color:red">'''NEW RELEASE!'''</span><br />
<br />
The Paparazzi Development Team is pleased to announce the release of the '''Paparazzi v4.0 stable''' version.<br />
<br />
After several months of testing and debugging, the [[RepositoryStructure|release preparation branch v3.9]] has been released as v4.0. See the [https://github.com/paparazzi/paparazzi/blob/v4.0/CHANGELOG.md changelog] for an overview of new features and bugfixes.<br />
<br />
If you are already using paparazzi with [[Git]], you can switch to this new branch with<br />
<br />
'''<code>git remote update && git checkout v4.0</code>'''.<br />
<br />
For new user, it will be the default branch when getting the [[Installation#Getting_the_Source_Code|source code from Github]]. You can also download a [https://github.com/paparazzi/paparazzi/tarball/v4.0_stable tarball] or [https://github.com/paparazzi/paparazzi/zipball/v4.0_stable Zip file] of the <tt>v4.0_stable</tt> source code.<br />
<br />
|-<br />
|<h3>July 2-6th, 2012</h3><br />
|-<br />
|[[Image:Blender_at_IMAV2012.JPG|thumb|left|Blender: 312mm / 340g]]<br />
<br />
'''Blender''', the small but deserving quadrotor of ENAC Paparazzi Team took the 1st place in "Outdoor autonomy" and 3rd place in "Outdoor dynamics" during [http://www.imav2012.org/ IMAV2012] competition in Braunschweig (Germany). Completing its missions with overflowing enthusiasm thanks to the new [[NavGo_v3|'''NavGo''']] autopilot. NavGo is the latest in the long line of award winning Paparazzi hardware available. See the list of Paparazzi hardware [[Autopilots |here]].<br />
<br />
<br />
|-<br />
|<h3>July 6th, 2012</h3><br />
|-<br />
|[[Image:Atmos.png|thumb|left|[ATMOS|http://www.teamatmos.nl/]]]<br />
<br />
<br />
'''[http://www.teamatmos.nl/ ATMOS]''', a hybrid [http://www.teamatmos.nl/video airplane-quadrotor] developed at the MAVlab of TU-Delft, was awarded third place (out of 140) in the [http://www.uavforge.net/ UAVForge] Competition. There were more than 140 initial [http://www.uavforge.net/uavhtml/milestones.php contestants] and after several selection rounds with only 12 finalists, the paparazzi [[Lisa/M]] powered [http://www.teamatmos.nl/ ATMOS] was one of the few that could actually make it to the remote target site miles away in an RF unfriendly environment. No team fully completed the baseline objectives which is why no prices were issued. The vertical takeoff and landing, together with long range thanks to the wing and flexibility thanks to opensource paparazzi were key factors in this event [http://www.youtube.com/watch?v=81NvfLFzhqQ]. <br />
<br />
But probably more important, the development of [http://www.teamatmos.nl/ ATMOS] has added a new [https://github.com/tudelft/paparazzi/tree/atmos-master4-flyoff code-base] to paparazzi to enable the control of any hybrid [https://github.com/tudelft/paparazzi/blob/atmos-master4-flyoff/sw/airborne/firmwares/rotorcraft/force_allocation_laws.c multi-lifting] device vehicle. ATMOS can take-off vertically as a quadrotor, transition to full forward flight as an airplane but also fly in any intermediate transition stage fully autonomously. So let your imagination go loose!<br />
<br />
|-<br />
|<h3>May 9th, 2012</h3><br />
|-<br />
|[[Image:Git-Logo-2Color.png|thumb|left|[[RepositoryStructure|New git branching model]]]]<br />
<br />
'''In order to improve the development workflow and provide stable releases we have changed our git branching model.'''<br />
<br />
<span style="color:red">'''The branch "master" is now our development branch.'''</span><br />
<br />
* The "dev" branch was renamed to the release preparation branch "v3.9". Switch to this branch if you want stable code.<br />
* "master" was reset to the previous "locm3" branch, where development will happen now with libopencm3 for the STM32 architecture.<br />
<br />
Please see the [[RepositoryStructure]] page for more details.<br />
<br />
As soon as we are ready to release v4.0 the will be tarballs available if you don't want to use [[Git]].<br />
<br />
|-<br />
|<h3>May 8th, 2012</h3><br />
|-<br />
|[[Image:Youtube.png|thumb|left|[http://www.youtube.com/playlist?list=PL91197EBE66E78E38 link to youtube video collection]]]<br />
<br />
A lot of cool stuff is done with paparazzi driven UAV`s<br />
To share the world what the paparazzi community is doing a [http://www.youtube.com/playlist?list=PL91197EBE66E78E38 youtube video play list] generated. If you want your video in there send a youtube link to the mailing list.<br />
<br />
|-<br />
|<h3>April 9th, 2012</h3><br />
|-<br />
|[[Image:Mini-Horus_Launch_in_Mada.jpg|thumb|left|Take off in Madagascar]]<br />
<br />
In March 2012, Paparazzi flew in southern Madagascar in the frame of a multi-university project to study and improve the ecosystem in one of the poorest regions of the world ([http://www.sulama.de Project]). More than 4000 hectares of farm and grassland were photographed in visible and near infrared spectra. More than 8500 photos were taken. Surely one of the biggest missions for science ever flown with Paparazzi.<br />
<br />
|-<br />
|<h3>March 7th, 2012</h3><br />
|-<br />
|[[Image:Sumo_launch.jpg|thumb|left|Take off in Antarctica]]<br />
<br />
In the Antarctic summer of 2011/2012 two teams flew Paparazzi-driven UAS on the southernmost continent. The University of Bergen flew at the Norwegian Troll station ([http://www.youtube.com/watch?v=0T9fyCNLllI video]) and the University of Colorado near the US McMurdo station ([http://dl.dropbox.com/u/53700947/Antarctic_blog/blog_20120124.htm blog], [http://alices-wonderland-adventures.blogspot.com/2012/01/uav-flights-take-2.html blog]). They measured temperature, humidity, pressure, infrared radiation and wind with a Multiplex Funjet plane.<br />
<br />
|-<br />
|<h3>December 26th, 2011</h3><br />
|-<br />
|[[Image:28C3_logo.png|thumb|left|Paparazzi at 28C3]]<br />
<br />
We had a table at the [http://events.ccc.de/congress/2011/wiki/Welcome 28C3] conference.<br />
<br />
|-<br />
|<h3>December 25th, 2011</h3><br />
|-<br />
|[[Image:Cre187-paparazzi.png|thumb|left|CRE187 - Paparazzi]]<br />
<br />
Martin Müller gave a great interview about the history and the inner workings of Paparazzi on [http://cre.fm/cre187 CRE Podcast].<br />
<br />
|-<br />
|<h3>October 5th, 2011</h3><br />
|-<br />
|[[Image:Umarim_v1-0_bottom_side.jpg|thumb|left|Umarim v1.0]]<br />
<br />
ENAC Team [http://paparazzi.enac.fr/wiki/Umarim_v10 Umarim V1.0 autopilot] is now released: LPC based, on-board IMU & barometer, narrow fuselage form factor (56x25mm) and lightweight (9gr) are its main features. Add your favorite GPS receiver and it will fit in your stupidly thin light UAV prototype. But it will also do the job for a big fat one. [http://paparazzi.enac.fr/wiki/Umarim_v10 More info here...]<br />
<br />
|-<br />
|<h3>September 18th, 2011</h3><br />
|-<br />
|[[Image:enac_imav11_1.jpg|thumb|left|IMAV 2011 Outdoor Competition ]]<br />
<br />
This year [http://www.imav2011.org/ IMAV 2011] went really well for all of the participants, we have seen lots of successful flights. ENAC Paparazzi Team took the 2nd place in general "Outdoor Challenge" and [http://paparazzi.enac.fr/wiki/Fire-Storm Fire Storm] demonstrated 105+ minutes of flight and took the "Best Outdoor Endurance Award". He was waiting this day for 2 years since the cancelation of IMAV09. <br />
As an additional information, Fire Storm flew its endurance mission with the new [http://paparazzi.enac.fr/wiki/Umarim_v10 Umarim V1.0] autopilot board which will be released soon.<br />
<br />
|-<br />
|<h3>August 31st, 2011</h3><br />
|-<br />
|[[Image:Quadshot_picture.jpg|thumb|left|The Quadshot]]<br />
<br />
Paparazzi is used in the [http://thequadshot.com Quadshot]: A blend between a quadrocopter and a flying wing. The Quadshot and Paparazzi are also featured in an [http://revision3.com/hak5/backtothestudio episode of Hak5]. You can also skip directly to the [http://www.youtube.com/watch?v=YeP7MMnP33g interview with Piotr] talking about how Paparazzi is used in the Quadshot, and briefly [http://www.youtube.com/watch?v=ANPX3UwRMnw explains the XML airframe file and the GCS].<br />
<br />
|-<br />
|<h3>February 15th, 2011</h3><br />
|-<br />
|[[Image:Finnarp.jpg|thumb|left|Paparazzi in Antarctica]]<br />
<br />
Paparazzi has flown on the southernmost continent: Antarctica. Scientists from the [http://en.ilmatieteenlaitos.fi/press-release/127535 Finnish Meteorological Institute] took three modified Funjets to the Finnish Aboa station and brought them back safely after more than 25 flights. They measured temperature, humidity, pressure, wind direction and speed in altitudes up to 1000m.<br />
<br />
|-<br />
|<h3>February 10th, 2011</h3><br />
|-<br />
|[[Image:ScreenShot.jpg|thumb|left|Paparazzi on OS X]]<br />
<br />
Paparazzi now on OS X. Thanks to the tireless efforts of Eric and Bernard we can all run [http://paparazzi.enac.fr/wiki/InstallationMacOSX Paparazzi on OS X]. Stay tuned Windows fans. Paparazzi on Windows is coming soon.<br />
<br />
|-<br />
|<h3>November 26th, 2010</h3><br />
|-<br />
|[[Image:Wingdrop.png|thumb|left|[http://www.youtube.com/watch?v=TFrognLZ2Ak wingdrop]]]<br />
<br />
There is a [http://www.youtube.com/watch?v=TFrognLZ2Ak video] available that shows how Paparazzis adaptive control loops keep a Twinstar in the air that drops 30% of its right wing with 50% of the aileron and then also switches the right engine off. Another [http://www.youtube.com/watch?v=N0H9xWckeYQ video] shows a Paparazzi quadcopter using adaptive control to stay level after dropping 50% of its total weight.<br />
<br />
|-<br />
<br />
|-<br />
|<h3>November 19th, 2010</h3><br />
|-<br />
|[[Image:Github.png|thumb|left|[[Git]]]]<br />
'''WE MOVED TO GIT!'''<br />
<br />
The paparazzi software repository now has a new happy life on github:<br />
<br />
'''https://github.com/paparazzi/paparazzi'''<br />
<br />
We believe the switch from Subversion to the fast [http://git-scm.com/ git] version control system will make development easier, faster and more fun. It also makes it easier for YOU to contribute. You can easily fork paparazzi on github, commit your bugfixes and new features and send us a pull request.<br />
<br />
More info on how to get the paparazzi code from github can be found [[Git|here]].<br />
<br />
We also want to encourage you to submit bugs or feature requests on the simple [https://github.com/paparazzi/paparazzi/issues github issue tracker].<br />
<br />
|<br />
|-<br />
<br />
<br />
|-<br />
|<h3>August, 2010</h3><br />
|-<br />
|[[Image:OrganizedCode.png|thumb|left|[[User/AirborneCodeReorg|Code Reorganization]]]]<br />
After many years of development, so many new autopilot boards and aircraft types have been added that a [http://en.wikipedia.org/wiki/Source_code sourcecode] reorganization was needed. This undertaking is started and will simplify the continuous evolution of the project.<br />
<br />
To benefit from these important changes, it only requires you to update your airframe configuration document once. After you have updated, you should not notice the significant reorganization that is going on behind the scenes. This change will benefit your aircrafts flying successfully for the years to come. The required changes are described on [[User/AirborneCodeReorg| Update Your Airframe Configuration]]. <br />
<br />
At this point several developments are blocked because of this. Therefor we kindly request you to upgrade your airframe configuration documents as soon as possible and thank you in advance for doing so.<br />
<br />
|<br />
|-<br />
<br />
<br />
|-<br />
|<h3>May 22th, 2010</h3><br />
|-<br />
|[[Image:PascalTPS.jpg|thumb|left|[[Hecto| Pascal Brisset]]]]<br />
Pascal Brisset, also known as Hecto, and the father of the Paparazzi project died in an accident while climbing in the Pyrénées mountains in the south of France.<br />
He had dedicated the last seven years of his life to the success of the project. He was taking care by himself of a huge part of the project. To name only a few : development and maintenance of the entire ground segment, navigation and flight plan algorithms, code generation and build system, distribution packaging, server infrastructure...<br />
<br />
To express your grief, you may want to [[Hecto| leave a note on his wiki page]]<br />
<br />
In respect for his commitment, the Paparazzi project must go on and volunteers wanting to take over tasks are hereby asked to do so.<br />
<br />
|<br />
|-<br />
<br />
<br />
|-<br />
<br />
|<h3>February 19th, 2010</h3><br />
|-<br />
|[[Image:Adler_c.jpg|thumb|left|[[Adler_Uni_Stuttgart| The 'Stuttgarter Adler']]]]<br />
The [http://www.irs.uni-stuttgart.de Institute of space systems] of [http://www.uni-stuttgart.de/index.en.html University of Stuttgart] is using the paparazzi system for large remote sensing aircrafts.<br> <br />
The missions include basic research and environmental monitoring. Payloads of up to 7kg are carried.<br><br><br />
More information can be found on the [[Adler_Uni_Stuttgart|Wiki page]].<br />
|<br />
|-<br />
<br />
<br />
|-<br />
<br />
<br />
|-<br />
|<h3>[[News Archives]]</h3><br />
|-<br />
| style="color:#000"|<br />
[[Image:One_Small_Step.jpg|thumb|left|[[News Archives]]]] [[News Archives|Browse the archives]] for a look back at the earlier days of Paparazzi.<br />
|-<br />
<br />
|}<br />
|}</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Main_Page&diff=13271Main Page2012-10-02T10:39:12Z<p>Cdewagter: </p>
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__NOEDITSECTION__<br />
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{|style="border-spacing:8px;margin:0px -8px" class="MainPageBG" style="width:100%;border:1px solid #9999bf;background-color:#f5fffa;vertical-align:top;color:#000; text-align: left;"<br />
|-<br />
|align="center" colspan="2"| <h2 style="margin:0;background-color:#82add9;font-size:150%;font-weight:bold;border:0px solid #a3bfb1;text-align:center;color:#ffffff;padding:0.2em 0.4em;">Welcome To Paparazzi</h2><br />
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[[Image:favicon32.png|32px]] [[General|General]] <br />
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{{General}}<br />
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[[Image:favicon32.png|32px]] [[Hardware|Hardware]] <br />
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{{Hardware}}<br />
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[[Image:favicon32.png|32px]] [[Software|Software]] <br />
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{{Software}}<br />
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[[Image:favicon32.png|32px]] [[Miscellaneous|Miscellaneous]] <br />
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{{Miscellaneous}}<br />
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| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi Project</h2><br />
|-<br />
|style="color:#000"|'''Paparazzi''' is a free and open-source hardware and software project intended to create an exceptionally powerful and versatile autopilot system for fixedwing aircrafts as well as multicopters by allowing and encouraging input from the community. The project includes not only the airborne hardware and software, from voltage regulators and GPS receivers to [http://en.wikipedia.org/wiki/Kalman_filtering Kalman filtering] code, but also a powerful and ever-expanding array of ground hardware and software including modems, antennas, and a highly evolved user-friendly ground control software interface.<br />
|-<br />
|All hardware and software is open-source and freely available to anyone under the [http://www.gnu.org GNU] licencing agreement. [[Get_Hardware| Several vendors]] are currently producing and selling Paparazzi autopilots and popular accessories, making the system easy and affordable to all.<br />
|-<br />
|The key feature of the paparazzi autopilot is its unique combination of inertial measurement and/or infrared thermopiles for attitude sensing, providing a robust and accurate attitude estimate that requires no ground calibration and can recover from any launch attitude.<br />
|-<br />
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi project at ENAC</h2><br />
|-<br />
|The Paparazzi [http://en.wikipedia.org/wiki/Unmanned_Aircraft_System UAS] project is now being used and developed at [http://www.enac.fr/ ENAC University] and the MAVlab of the TU-Delft.<br />
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|style="color:#000"|<br />
* [http://paparazzi.enac.fr/debian/ Debian repository] and [https://launchpad.net/~paparazzi-uav/+archive/ppa Ubuntu repository] containing some packages not in the official distribution and required to run Paparazzi.<br />
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| <h2 style="margin:0;background-color:#ff9b00;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">Legal disclaimer</h2><br />
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|The Paparazzi software and hardware are distributed without any guarantee, in particular they are not certified by any national or international authorities. Before flying, please refer to your country national aviation regulation for Unmanned Aerial Systems, or the one of the country you intend to overfly.<br />
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| <h2 style="margin:0;background-color:#6daef2;font-size:120%;font-weight:bold;border:1px solid #8fa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">Latest stable release</h2><br />
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|<h3>v4.0.2_stable</h3><br />
|-<br />
|Download as [https://github.com/paparazzi/paparazzi/tarball/v4.0.2_stable tarball] or [https://github.com/paparazzi/paparazzi/zipball/v4.0.2_stable Zip file] or checkout the '''v4.0''' branch from [[git]].<br />
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||[[Image:githubicon.png|link=https://github.com/paparazzi/|G]] <br />
||[[Image:download.png|link=https://github.com/paparazzi/paparazzi/tags|D]] <br />
||[[Image:twitter.png|link=https://twitter.com/paparazziuas|T]] <br />
||[[Image:blog.png|link=http://paparazziuav.org/|B]] <br />
||[[Image:youtubeicon.png|link=http://www.youtube.com/user/paparazziUAS|Y]] <br />
||[[Image:chat.png|link=Contact#The_IRC_Chat_Channel|C]]<br />
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| <h2 style="margin:0;background-color:#9dcef2;font-size:120%;font-weight:bold;border:1px solid #8fa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">Upcoming</h2><br />
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|<h3>September 26-27th, 2012</h3><br />
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|<br />
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ENAC will be at the [http://www.uavshow-europe.com/ UAV Show Europe] in Bordeaux, France, for flight demonstrations.<br />
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| <h2 style="margin:0;background-color:#ddcef2;font-size:120%;font-weight:bold;border:1px solid #afa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">News</h2><br />
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|-<br />
|<h3>July 26th, 2012</h3><br />
|-<br />
|[[Image:Dc20-logo_smsq.png|thumb|left|DefCon 20]]<br />
<br />
Paparazzi was at the [https://www.defcon.org/html/defcon-20/dc-20-index.html DefCon 20] conference in Las Vegas, USA from July 26th - 29th 2012.<br />
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|<h3>July 26th, 2012</h3><br />
|-<br />
|[[Image:penguin_logo.gif|thumb|left|Paparazzi<br>The Free Autopilot]]<br />
<br />
<span style="color:red">'''NEW RELEASE!'''</span><br />
<br />
The Paparazzi Development Team is pleased to announce the release of the '''Paparazzi v4.0 stable''' version.<br />
<br />
After several months of testing and debugging, the [[RepositoryStructure|release preparation branch v3.9]] has been released as v4.0. See the [https://github.com/paparazzi/paparazzi/blob/v4.0/CHANGELOG.md changelog] for an overview of new features and bugfixes.<br />
<br />
If you are already using paparazzi with [[Git]], you can switch to this new branch with<br />
<br />
'''<code>git remote update && git checkout v4.0</code>'''.<br />
<br />
For new user, it will be the default branch when getting the [[Installation#Getting_the_Source_Code|source code from Github]]. You can also download a [https://github.com/paparazzi/paparazzi/tarball/v4.0_stable tarball] or [https://github.com/paparazzi/paparazzi/zipball/v4.0_stable Zip file] of the <tt>v4.0_stable</tt> source code.<br />
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|-<br />
|<h3>July 2-6th, 2012</h3><br />
|-<br />
|[[Image:Blender_at_IMAV2012.JPG|thumb|left|Blender: 312mm / 340g]]<br />
<br />
'''Blender''', the small but deserving quadrotor of ENAC Paparazzi Team took the 1st place in "Outdoor autonomy" and 3rd place in "Outdoor dynamics" during [http://www.imav2012.org/ IMAV2012] competition in Braunschweig (Germany). Completing its missions with overflowing enthusiasm thanks to the new [[NavGo_v3|'''NavGo''']] autopilot. NavGo is the latest in the long line of award winning Paparazzi hardware available. See the list of Paparazzi hardware [[Autopilots |here]].<br />
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|<h3>July 6th, 2012</h3><br />
|-<br />
|[[Image:Atmos.png|thumb|left|[ATMOS|http://www.teamatmos.nl/]]]<br />
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'''[http://www.teamatmos.nl/ ATMOS]''', a hybrid [http://www.teamatmos.nl/video airplane-quadrotor] developed at the MAVlab of TU-Delft, was awarded third place (out of 140) in the [http://www.uavforge.net/ UAVForge] Competition. There were more than 140 initial [http://www.uavforge.net/uavhtml/milestones.php contestants] and after several selection rounds with only 12 finalists, the paparazzi [[Lisa/M]] powered [http://www.teamatmos.nl/ ATMOS] was one of the few that could actually make it to the remote target site miles away in an RF unfriendly environment. No team fully completed the baseline objectives which is why no prices were issued. The vertical takeoff and landing, together with long range thanks to the wing and flexibility thanks to opensource paparazzi were key factors in this event [http://www.youtube.com/watch?v=81NvfLFzhqQ]. <br />
<br />
But probably more important, the development of [http://www.teamatmos.nl/ ATMOS] has added a new [https://github.com/tudelft/paparazzi/tree/atmos-master4-flyoff code-base] to paparazzi to enable the control of any hybrid [https://github.com/tudelft/paparazzi/blob/atmos-master4-flyoff/sw/airborne/firmwares/rotorcraft/force_allocation_laws.c multi-lifting] device vehicle. ATMOS can take-off vertically as a quadrotor, transition to full forward flight as an airplane but also fly in any intermediate transition stage fully autonomously. So let your imagination go loose!<br />
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|-<br />
|<h3>May 9th, 2012</h3><br />
|-<br />
|[[Image:Git-Logo-2Color.png|thumb|left|[[RepositoryStructure|New git branching model]]]]<br />
<br />
'''In order to improve the development workflow and provide stable releases we have changed our git branching model.'''<br />
<br />
<span style="color:red">'''The branch "master" is now our development branch.'''</span><br />
<br />
* The "dev" branch was renamed to the release preparation branch "v3.9". Switch to this branch if you want stable code.<br />
* "master" was reset to the previous "locm3" branch, where development will happen now with libopencm3 for the STM32 architecture.<br />
<br />
Please see the [[RepositoryStructure]] page for more details.<br />
<br />
As soon as we are ready to release v4.0 the will be tarballs available if you don't want to use [[Git]].<br />
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|-<br />
|<h3>May 8th, 2012</h3><br />
|-<br />
|[[Image:Youtube.png|thumb|left|[http://www.youtube.com/playlist?list=PL91197EBE66E78E38 link to youtube video collection]]]<br />
<br />
A lot of cool stuff is done with paparazzi driven UAV`s<br />
To share the world what the paparazzi community is doing a [http://www.youtube.com/playlist?list=PL91197EBE66E78E38 youtube video play list] generated. If you want your video in there send a youtube link to the mailing list.<br />
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|<h3>April 9th, 2012</h3><br />
|-<br />
|[[Image:Mini-Horus_Launch_in_Mada.jpg|thumb|left|Take off in Madagascar]]<br />
<br />
In March 2012, Paparazzi flew in southern Madagascar in the frame of a multi-university project to study and improve the ecosystem in one of the poorest regions of the world ([http://www.sulama.de Project]). More than 4000 hectares of farm and grassland were photographed in visible and near infrared spectra. More than 8500 photos were taken. Surely one of the biggest missions for science ever flown with Paparazzi.<br />
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|<h3>March 7th, 2012</h3><br />
|-<br />
|[[Image:Sumo_launch.jpg|thumb|left|Take off in Antarctica]]<br />
<br />
In the Antarctic summer of 2011/2012 two teams flew Paparazzi-driven UAS on the southernmost continent. The University of Bergen flew at the Norwegian Troll station ([http://www.youtube.com/watch?v=0T9fyCNLllI video]) and the University of Colorado near the US McMurdo station ([http://dl.dropbox.com/u/53700947/Antarctic_blog/blog_20120124.htm blog], [http://alices-wonderland-adventures.blogspot.com/2012/01/uav-flights-take-2.html blog]). They measured temperature, humidity, pressure, infrared radiation and wind with a Multiplex Funjet plane.<br />
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|-<br />
|<h3>December 26th, 2011</h3><br />
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|[[Image:28C3_logo.png|thumb|left|Paparazzi at 28C3]]<br />
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We had a table at the [http://events.ccc.de/congress/2011/wiki/Welcome 28C3] conference.<br />
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|-<br />
|<h3>December 25th, 2011</h3><br />
|-<br />
|[[Image:Cre187-paparazzi.png|thumb|left|CRE187 - Paparazzi]]<br />
<br />
Martin Müller gave a great interview about the history and the inner workings of Paparazzi on [http://cre.fm/cre187 CRE Podcast].<br />
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|-<br />
|<h3>October 5th, 2011</h3><br />
|-<br />
|[[Image:Umarim_v1-0_bottom_side.jpg|thumb|left|Umarim v1.0]]<br />
<br />
ENAC Team [http://paparazzi.enac.fr/wiki/Umarim_v10 Umarim V1.0 autopilot] is now released: LPC based, on-board IMU & barometer, narrow fuselage form factor (56x25mm) and lightweight (9gr) are its main features. Add your favorite GPS receiver and it will fit in your stupidly thin light UAV prototype. But it will also do the job for a big fat one. [http://paparazzi.enac.fr/wiki/Umarim_v10 More info here...]<br />
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|-<br />
|<h3>September 18th, 2011</h3><br />
|-<br />
|[[Image:enac_imav11_1.jpg|thumb|left|IMAV 2011 Outdoor Competition ]]<br />
<br />
This year [http://www.imav2011.org/ IMAV 2011] went really well for all of the participants, we have seen lots of successful flights. ENAC Paparazzi Team took the 2nd place in general "Outdoor Challenge" and [http://paparazzi.enac.fr/wiki/Fire-Storm Fire Storm] demonstrated 105+ minutes of flight and took the "Best Outdoor Endurance Award". He was waiting this day for 2 years since the cancelation of IMAV09. <br />
As an additional information, Fire Storm flew its endurance mission with the new [http://paparazzi.enac.fr/wiki/Umarim_v10 Umarim V1.0] autopilot board which will be released soon.<br />
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|<h3>August 31st, 2011</h3><br />
|-<br />
|[[Image:Quadshot_picture.jpg|thumb|left|The Quadshot]]<br />
<br />
Paparazzi is used in the [http://thequadshot.com Quadshot]: A blend between a quadrocopter and a flying wing. The Quadshot and Paparazzi are also featured in an [http://revision3.com/hak5/backtothestudio episode of Hak5]. You can also skip directly to the [http://www.youtube.com/watch?v=YeP7MMnP33g interview with Piotr] talking about how Paparazzi is used in the Quadshot, and briefly [http://www.youtube.com/watch?v=ANPX3UwRMnw explains the XML airframe file and the GCS].<br />
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|-<br />
|<h3>February 15th, 2011</h3><br />
|-<br />
|[[Image:Finnarp.jpg|thumb|left|Paparazzi in Antarctica]]<br />
<br />
Paparazzi has flown on the southernmost continent: Antarctica. Scientists from the [http://en.ilmatieteenlaitos.fi/press-release/127535 Finnish Meteorological Institute] took three modified Funjets to the Finnish Aboa station and brought them back safely after more than 25 flights. They measured temperature, humidity, pressure, wind direction and speed in altitudes up to 1000m.<br />
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|-<br />
|<h3>February 10th, 2011</h3><br />
|-<br />
|[[Image:ScreenShot.jpg|thumb|left|Paparazzi on OS X]]<br />
<br />
Paparazzi now on OS X. Thanks to the tireless efforts of Eric and Bernard we can all run [http://paparazzi.enac.fr/wiki/InstallationMacOSX Paparazzi on OS X]. Stay tuned Windows fans. Paparazzi on Windows is coming soon.<br />
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|-<br />
|<h3>November 26th, 2010</h3><br />
|-<br />
|[[Image:Wingdrop.png|thumb|left|[http://www.youtube.com/watch?v=TFrognLZ2Ak wingdrop]]]<br />
<br />
There is a [http://www.youtube.com/watch?v=TFrognLZ2Ak video] available that shows how Paparazzis adaptive control loops keep a Twinstar in the air that drops 30% of its right wing with 50% of the aileron and then also switches the right engine off. Another [http://www.youtube.com/watch?v=N0H9xWckeYQ video] shows a Paparazzi quadcopter using adaptive control to stay level after dropping 50% of its total weight.<br />
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|-<br />
|<h3>November 19th, 2010</h3><br />
|-<br />
|[[Image:Github.png|thumb|left|[[Git]]]]<br />
'''WE MOVED TO GIT!'''<br />
<br />
The paparazzi software repository now has a new happy life on github:<br />
<br />
'''https://github.com/paparazzi/paparazzi'''<br />
<br />
We believe the switch from Subversion to the fast [http://git-scm.com/ git] version control system will make development easier, faster and more fun. It also makes it easier for YOU to contribute. You can easily fork paparazzi on github, commit your bugfixes and new features and send us a pull request.<br />
<br />
More info on how to get the paparazzi code from github can be found [[Git|here]].<br />
<br />
We also want to encourage you to submit bugs or feature requests on the simple [https://github.com/paparazzi/paparazzi/issues github issue tracker].<br />
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|-<br />
|<h3>August, 2010</h3><br />
|-<br />
|[[Image:OrganizedCode.png|thumb|left|[[User/AirborneCodeReorg|Code Reorganization]]]]<br />
After many years of development, so many new autopilot boards and aircraft types have been added that a [http://en.wikipedia.org/wiki/Source_code sourcecode] reorganization was needed. This undertaking is started and will simplify the continuous evolution of the project.<br />
<br />
To benefit from these important changes, it only requires you to update your airframe configuration document once. After you have updated, you should not notice the significant reorganization that is going on behind the scenes. This change will benefit your aircrafts flying successfully for the years to come. The required changes are described on [[User/AirborneCodeReorg| Update Your Airframe Configuration]]. <br />
<br />
At this point several developments are blocked because of this. Therefor we kindly request you to upgrade your airframe configuration documents as soon as possible and thank you in advance for doing so.<br />
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|-<br />
|<h3>May 22th, 2010</h3><br />
|-<br />
|[[Image:PascalTPS.jpg|thumb|left|[[Hecto| Pascal Brisset]]]]<br />
Pascal Brisset, also known as Hecto, and the father of the Paparazzi project died in an accident while climbing in the Pyrénées mountains in the south of France.<br />
He had dedicated the last seven years of his life to the success of the project. He was taking care by himself of a huge part of the project. To name only a few : development and maintenance of the entire ground segment, navigation and flight plan algorithms, code generation and build system, distribution packaging, server infrastructure...<br />
<br />
To express your grief, you may want to [[Hecto| leave a note on his wiki page]]<br />
<br />
In respect for his commitment, the Paparazzi project must go on and volunteers wanting to take over tasks are hereby asked to do so.<br />
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|<h3>February 19th, 2010</h3><br />
|-<br />
|[[Image:Adler_c.jpg|thumb|left|[[Adler_Uni_Stuttgart| The 'Stuttgarter Adler']]]]<br />
The [http://www.irs.uni-stuttgart.de Institute of space systems] of [http://www.uni-stuttgart.de/index.en.html University of Stuttgart] is using the paparazzi system for large remote sensing aircrafts.<br> <br />
The missions include basic research and environmental monitoring. Payloads of up to 7kg are carried.<br><br><br />
More information can be found on the [[Adler_Uni_Stuttgart|Wiki page]].<br />
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|<h3>[[News Archives]]</h3><br />
|-<br />
| style="color:#000"|<br />
[[Image:One_Small_Step.jpg|thumb|left|[[News Archives]]]] [[News Archives|Browse the archives]] for a look back at the earlier days of Paparazzi.<br />
|-<br />
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|}<br />
|}</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=File:Githubicon.png&diff=13270File:Githubicon.png2012-10-02T10:36:16Z<p>Cdewagter: uploaded a new version of "File:Githubicon.png"</p>
<hr />
<div></div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Main_Page&diff=13269Main Page2012-10-02T10:34:06Z<p>Cdewagter: </p>
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<div>__NOTOC__<br />
__NOEDITSECTION__<br />
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{|style="border-spacing:8px;margin:0px -8px" class="MainPageBG" style="width:100%;border:1px solid #9999bf;background-color:#f5fffa;vertical-align:top;color:#000; text-align: left;"<br />
|-<br />
|align="center" colspan="2"| <h2 style="margin:0;background-color:#82add9;font-size:150%;font-weight:bold;border:0px solid #a3bfb1;text-align:center;color:#ffffff;padding:0.2em 0.4em;">Welcome To Paparazzi</h2><br />
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[[Image:favicon32.png|32px]] [[General|General]] <br />
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{{General}}<br />
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[[Image:favicon32.png|32px]] [[Hardware|Hardware]] <br />
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{{Hardware}}<br />
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[[Image:favicon32.png|32px]] [[Software|Software]] <br />
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{{Software}}<br />
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[[Image:favicon32.png|32px]] [[Miscellaneous|Miscellaneous]] <br />
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{{Miscellaneous}}<br />
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{|width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa"<br />
|-valign="top"<br />
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi Project</h2><br />
|-<br />
|style="color:#000"|'''Paparazzi''' is a free and open-source hardware and software project intended to create an exceptionally powerful and versatile autopilot system for fixedwing aircrafts as well as multicopters by allowing and encouraging input from the community. The project includes not only the airborne hardware and software, from voltage regulators and GPS receivers to [http://en.wikipedia.org/wiki/Kalman_filtering Kalman filtering] code, but also a powerful and ever-expanding array of ground hardware and software including modems, antennas, and a highly evolved user-friendly ground control software interface.<br />
|-<br />
|All hardware and software is open-source and freely available to anyone under the [http://www.gnu.org GNU] licencing agreement. [[Get_Hardware| Several vendors]] are currently producing and selling Paparazzi autopilots and popular accessories, making the system easy and affordable to all.<br />
|-<br />
|The key feature of the paparazzi autopilot is its unique combination of inertial measurement and/or infrared thermopiles for attitude sensing, providing a robust and accurate attitude estimate that requires no ground calibration and can recover from any launch attitude.<br />
|-<br />
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi project at ENAC</h2><br />
|-<br />
|The Paparazzi [http://en.wikipedia.org/wiki/Unmanned_Aircraft_System UAS] project is now being used and developed at [http://www.enac.fr/ ENAC University] and the MAVlab of the TU-Delft.<br />
|-<br />
|style="color:#000"|<br />
* [http://paparazzi.enac.fr/debian/ Debian repository] and [https://launchpad.net/~paparazzi-uav/+archive/ppa Ubuntu repository] containing some packages not in the official distribution and required to run Paparazzi.<br />
|-<br />
| <h2 style="margin:0;background-color:#ff9b00;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">Legal disclaimer</h2><br />
|-<br />
|The Paparazzi software and hardware are distributed without any guarantee, in particular they are not certified by any national or international authorities. Before flying, please refer to your country national aviation regulation for Unmanned Aerial Systems, or the one of the country you intend to overfly.<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#ebf5ff;border:1px solid #9dcef2; text-align: justify;"<br />
| <h2 style="margin:0;background-color:#6daef2;font-size:120%;font-weight:bold;border:1px solid #8fa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">Latest stable release</h2><br />
|-<br />
|<h3>v4.0.2_stable</h3><br />
|-<br />
|Download as [https://github.com/paparazzi/paparazzi/tarball/v4.0.2_stable tarball] or [https://github.com/paparazzi/paparazzi/zipball/v4.0.2_stable Zip file] or checkout the '''v4.0''' branch from [[git]].<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="2" style="vertical-align:top;background-color:#ffff;border:1px solid #9dcef2; text-align: justify;"<br />
| <br />
<br />
{|-<br />
| [[Image:wikiicon.png|link=Main_Page|Wiki]] <br />
|| [[Image:mainlinglist.png|link=http://lists.gnu.org/archive/html/paparazzi-devel/|Mail]] <br />
|| [[Image:githubicon.png|link=https://github.com/paparazzi/|Git]] <br />
|| [[Image:download.png|link=https://github.com/paparazzi/paparazzi/tags|Dwnl]] <br />
|| [[Image:twitter.png|link=https://twitter.com/paparazziuas|Twit]] <br />
|| [[Image:blog.png|link=http://paparazziuav.org/|Blog]] <br />
|| [[Image:youtubeicon.png|link=http://www.youtube.com/user/paparazziUAS|YTube]] <br />
|| [[Image:chat.png|link=Contact#The_IRC_Chat_Channel|Blog]] <br />
<br />
|}<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#ebf5ff;border:1px solid #9dcef2; text-align: justify;"<br />
| <h2 style="margin:0;background-color:#9dcef2;font-size:120%;font-weight:bold;border:1px solid #8fa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">Upcoming</h2><br />
<br />
|-<br />
|<h3>September 26-27th, 2012</h3><br />
|-<br />
|<br />
<br />
ENAC will be at the [http://www.uavshow-europe.com/ UAV Show Europe] in Bordeaux, France, for flight demonstrations.<br />
<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#faf5ff;border:1px solid #ddcef2; text-align: justify;"<br />
| <h2 style="margin:0;background-color:#ddcef2;font-size:120%;font-weight:bold;border:1px solid #afa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">News</h2><br />
<br />
|-<br />
|<h3>July 26th, 2012</h3><br />
|-<br />
|[[Image:Dc20-logo_smsq.png|thumb|left|DefCon 20]]<br />
<br />
Paparazzi was at the [https://www.defcon.org/html/defcon-20/dc-20-index.html DefCon 20] conference in Las Vegas, USA from July 26th - 29th 2012.<br />
<br />
|-<br />
|<h3>July 26th, 2012</h3><br />
|-<br />
|[[Image:penguin_logo.gif|thumb|left|Paparazzi<br>The Free Autopilot]]<br />
<br />
<span style="color:red">'''NEW RELEASE!'''</span><br />
<br />
The Paparazzi Development Team is pleased to announce the release of the '''Paparazzi v4.0 stable''' version.<br />
<br />
After several months of testing and debugging, the [[RepositoryStructure|release preparation branch v3.9]] has been released as v4.0. See the [https://github.com/paparazzi/paparazzi/blob/v4.0/CHANGELOG.md changelog] for an overview of new features and bugfixes.<br />
<br />
If you are already using paparazzi with [[Git]], you can switch to this new branch with<br />
<br />
'''<code>git remote update && git checkout v4.0</code>'''.<br />
<br />
For new user, it will be the default branch when getting the [[Installation#Getting_the_Source_Code|source code from Github]]. You can also download a [https://github.com/paparazzi/paparazzi/tarball/v4.0_stable tarball] or [https://github.com/paparazzi/paparazzi/zipball/v4.0_stable Zip file] of the <tt>v4.0_stable</tt> source code.<br />
<br />
|-<br />
|<h3>July 2-6th, 2012</h3><br />
|-<br />
|[[Image:Blender_at_IMAV2012.JPG|thumb|left|Blender: 312mm / 340g]]<br />
<br />
'''Blender''', the small but deserving quadrotor of ENAC Paparazzi Team took the 1st place in "Outdoor autonomy" and 3rd place in "Outdoor dynamics" during [http://www.imav2012.org/ IMAV2012] competition in Braunschweig (Germany). Completing its missions with overflowing enthusiasm thanks to the new [[NavGo_v3|'''NavGo''']] autopilot. NavGo is the latest in the long line of award winning Paparazzi hardware available. See the list of Paparazzi hardware [[Autopilots |here]].<br />
<br />
<br />
|-<br />
|<h3>July 6th, 2012</h3><br />
|-<br />
|[[Image:Atmos.png|thumb|left|[ATMOS|http://www.teamatmos.nl/]]]<br />
<br />
<br />
'''[http://www.teamatmos.nl/ ATMOS]''', a hybrid [http://www.teamatmos.nl/video airplane-quadrotor] developed at the MAVlab of TU-Delft, was awarded third place (out of 140) in the [http://www.uavforge.net/ UAVForge] Competition. There were more than 140 initial [http://www.uavforge.net/uavhtml/milestones.php contestants] and after several selection rounds with only 12 finalists, the paparazzi [[Lisa/M]] powered [http://www.teamatmos.nl/ ATMOS] was one of the few that could actually make it to the remote target site miles away in an RF unfriendly environment. No team fully completed the baseline objectives which is why no prices were issued. The vertical takeoff and landing, together with long range thanks to the wing and flexibility thanks to opensource paparazzi were key factors in this event [http://www.youtube.com/watch?v=81NvfLFzhqQ]. <br />
<br />
But probably more important, the development of [http://www.teamatmos.nl/ ATMOS] has added a new [https://github.com/tudelft/paparazzi/tree/atmos-master4-flyoff code-base] to paparazzi to enable the control of any hybrid [https://github.com/tudelft/paparazzi/blob/atmos-master4-flyoff/sw/airborne/firmwares/rotorcraft/force_allocation_laws.c multi-lifting] device vehicle. ATMOS can take-off vertically as a quadrotor, transition to full forward flight as an airplane but also fly in any intermediate transition stage fully autonomously. So let your imagination go loose!<br />
<br />
|-<br />
|<h3>May 9th, 2012</h3><br />
|-<br />
|[[Image:Git-Logo-2Color.png|thumb|left|[[RepositoryStructure|New git branching model]]]]<br />
<br />
'''In order to improve the development workflow and provide stable releases we have changed our git branching model.'''<br />
<br />
<span style="color:red">'''The branch "master" is now our development branch.'''</span><br />
<br />
* The "dev" branch was renamed to the release preparation branch "v3.9". Switch to this branch if you want stable code.<br />
* "master" was reset to the previous "locm3" branch, where development will happen now with libopencm3 for the STM32 architecture.<br />
<br />
Please see the [[RepositoryStructure]] page for more details.<br />
<br />
As soon as we are ready to release v4.0 the will be tarballs available if you don't want to use [[Git]].<br />
<br />
|-<br />
|<h3>May 8th, 2012</h3><br />
|-<br />
|[[Image:Youtube.png|thumb|left|[http://www.youtube.com/playlist?list=PL91197EBE66E78E38 link to youtube video collection]]]<br />
<br />
A lot of cool stuff is done with paparazzi driven UAV`s<br />
To share the world what the paparazzi community is doing a [http://www.youtube.com/playlist?list=PL91197EBE66E78E38 youtube video play list] generated. If you want your video in there send a youtube link to the mailing list.<br />
<br />
|-<br />
|<h3>April 9th, 2012</h3><br />
|-<br />
|[[Image:Mini-Horus_Launch_in_Mada.jpg|thumb|left|Take off in Madagascar]]<br />
<br />
In March 2012, Paparazzi flew in southern Madagascar in the frame of a multi-university project to study and improve the ecosystem in one of the poorest regions of the world ([http://www.sulama.de Project]). More than 4000 hectares of farm and grassland were photographed in visible and near infrared spectra. More than 8500 photos were taken. Surely one of the biggest missions for science ever flown with Paparazzi.<br />
<br />
|-<br />
|<h3>March 7th, 2012</h3><br />
|-<br />
|[[Image:Sumo_launch.jpg|thumb|left|Take off in Antarctica]]<br />
<br />
In the Antarctic summer of 2011/2012 two teams flew Paparazzi-driven UAS on the southernmost continent. The University of Bergen flew at the Norwegian Troll station ([http://www.youtube.com/watch?v=0T9fyCNLllI video]) and the University of Colorado near the US McMurdo station ([http://dl.dropbox.com/u/53700947/Antarctic_blog/blog_20120124.htm blog], [http://alices-wonderland-adventures.blogspot.com/2012/01/uav-flights-take-2.html blog]). They measured temperature, humidity, pressure, infrared radiation and wind with a Multiplex Funjet plane.<br />
<br />
|-<br />
|<h3>December 26th, 2011</h3><br />
|-<br />
|[[Image:28C3_logo.png|thumb|left|Paparazzi at 28C3]]<br />
<br />
We had a table at the [http://events.ccc.de/congress/2011/wiki/Welcome 28C3] conference.<br />
<br />
|-<br />
|<h3>December 25th, 2011</h3><br />
|-<br />
|[[Image:Cre187-paparazzi.png|thumb|left|CRE187 - Paparazzi]]<br />
<br />
Martin Müller gave a great interview about the history and the inner workings of Paparazzi on [http://cre.fm/cre187 CRE Podcast].<br />
<br />
|-<br />
|<h3>October 5th, 2011</h3><br />
|-<br />
|[[Image:Umarim_v1-0_bottom_side.jpg|thumb|left|Umarim v1.0]]<br />
<br />
ENAC Team [http://paparazzi.enac.fr/wiki/Umarim_v10 Umarim V1.0 autopilot] is now released: LPC based, on-board IMU & barometer, narrow fuselage form factor (56x25mm) and lightweight (9gr) are its main features. Add your favorite GPS receiver and it will fit in your stupidly thin light UAV prototype. But it will also do the job for a big fat one. [http://paparazzi.enac.fr/wiki/Umarim_v10 More info here...]<br />
<br />
|-<br />
|<h3>September 18th, 2011</h3><br />
|-<br />
|[[Image:enac_imav11_1.jpg|thumb|left|IMAV 2011 Outdoor Competition ]]<br />
<br />
This year [http://www.imav2011.org/ IMAV 2011] went really well for all of the participants, we have seen lots of successful flights. ENAC Paparazzi Team took the 2nd place in general "Outdoor Challenge" and [http://paparazzi.enac.fr/wiki/Fire-Storm Fire Storm] demonstrated 105+ minutes of flight and took the "Best Outdoor Endurance Award". He was waiting this day for 2 years since the cancelation of IMAV09. <br />
As an additional information, Fire Storm flew its endurance mission with the new [http://paparazzi.enac.fr/wiki/Umarim_v10 Umarim V1.0] autopilot board which will be released soon.<br />
<br />
|-<br />
|<h3>August 31st, 2011</h3><br />
|-<br />
|[[Image:Quadshot_picture.jpg|thumb|left|The Quadshot]]<br />
<br />
Paparazzi is used in the [http://thequadshot.com Quadshot]: A blend between a quadrocopter and a flying wing. The Quadshot and Paparazzi are also featured in an [http://revision3.com/hak5/backtothestudio episode of Hak5]. You can also skip directly to the [http://www.youtube.com/watch?v=YeP7MMnP33g interview with Piotr] talking about how Paparazzi is used in the Quadshot, and briefly [http://www.youtube.com/watch?v=ANPX3UwRMnw explains the XML airframe file and the GCS].<br />
<br />
|-<br />
|<h3>February 15th, 2011</h3><br />
|-<br />
|[[Image:Finnarp.jpg|thumb|left|Paparazzi in Antarctica]]<br />
<br />
Paparazzi has flown on the southernmost continent: Antarctica. Scientists from the [http://en.ilmatieteenlaitos.fi/press-release/127535 Finnish Meteorological Institute] took three modified Funjets to the Finnish Aboa station and brought them back safely after more than 25 flights. They measured temperature, humidity, pressure, wind direction and speed in altitudes up to 1000m.<br />
<br />
|-<br />
|<h3>February 10th, 2011</h3><br />
|-<br />
|[[Image:ScreenShot.jpg|thumb|left|Paparazzi on OS X]]<br />
<br />
Paparazzi now on OS X. Thanks to the tireless efforts of Eric and Bernard we can all run [http://paparazzi.enac.fr/wiki/InstallationMacOSX Paparazzi on OS X]. Stay tuned Windows fans. Paparazzi on Windows is coming soon.<br />
<br />
|-<br />
|<h3>November 26th, 2010</h3><br />
|-<br />
|[[Image:Wingdrop.png|thumb|left|[http://www.youtube.com/watch?v=TFrognLZ2Ak wingdrop]]]<br />
<br />
There is a [http://www.youtube.com/watch?v=TFrognLZ2Ak video] available that shows how Paparazzis adaptive control loops keep a Twinstar in the air that drops 30% of its right wing with 50% of the aileron and then also switches the right engine off. Another [http://www.youtube.com/watch?v=N0H9xWckeYQ video] shows a Paparazzi quadcopter using adaptive control to stay level after dropping 50% of its total weight.<br />
<br />
|-<br />
<br />
|-<br />
|<h3>November 19th, 2010</h3><br />
|-<br />
|[[Image:Github.png|thumb|left|[[Git]]]]<br />
'''WE MOVED TO GIT!'''<br />
<br />
The paparazzi software repository now has a new happy life on github:<br />
<br />
'''https://github.com/paparazzi/paparazzi'''<br />
<br />
We believe the switch from Subversion to the fast [http://git-scm.com/ git] version control system will make development easier, faster and more fun. It also makes it easier for YOU to contribute. You can easily fork paparazzi on github, commit your bugfixes and new features and send us a pull request.<br />
<br />
More info on how to get the paparazzi code from github can be found [[Git|here]].<br />
<br />
We also want to encourage you to submit bugs or feature requests on the simple [https://github.com/paparazzi/paparazzi/issues github issue tracker].<br />
<br />
|<br />
|-<br />
<br />
<br />
|-<br />
|<h3>August, 2010</h3><br />
|-<br />
|[[Image:OrganizedCode.png|thumb|left|[[User/AirborneCodeReorg|Code Reorganization]]]]<br />
After many years of development, so many new autopilot boards and aircraft types have been added that a [http://en.wikipedia.org/wiki/Source_code sourcecode] reorganization was needed. This undertaking is started and will simplify the continuous evolution of the project.<br />
<br />
To benefit from these important changes, it only requires you to update your airframe configuration document once. After you have updated, you should not notice the significant reorganization that is going on behind the scenes. This change will benefit your aircrafts flying successfully for the years to come. The required changes are described on [[User/AirborneCodeReorg| Update Your Airframe Configuration]]. <br />
<br />
At this point several developments are blocked because of this. Therefor we kindly request you to upgrade your airframe configuration documents as soon as possible and thank you in advance for doing so.<br />
<br />
|<br />
|-<br />
<br />
<br />
|-<br />
|<h3>May 22th, 2010</h3><br />
|-<br />
|[[Image:PascalTPS.jpg|thumb|left|[[Hecto| Pascal Brisset]]]]<br />
Pascal Brisset, also known as Hecto, and the father of the Paparazzi project died in an accident while climbing in the Pyrénées mountains in the south of France.<br />
He had dedicated the last seven years of his life to the success of the project. He was taking care by himself of a huge part of the project. To name only a few : development and maintenance of the entire ground segment, navigation and flight plan algorithms, code generation and build system, distribution packaging, server infrastructure...<br />
<br />
To express your grief, you may want to [[Hecto| leave a note on his wiki page]]<br />
<br />
In respect for his commitment, the Paparazzi project must go on and volunteers wanting to take over tasks are hereby asked to do so.<br />
<br />
|<br />
|-<br />
<br />
<br />
|-<br />
<br />
|<h3>February 19th, 2010</h3><br />
|-<br />
|[[Image:Adler_c.jpg|thumb|left|[[Adler_Uni_Stuttgart| The 'Stuttgarter Adler']]]]<br />
The [http://www.irs.uni-stuttgart.de Institute of space systems] of [http://www.uni-stuttgart.de/index.en.html University of Stuttgart] is using the paparazzi system for large remote sensing aircrafts.<br> <br />
The missions include basic research and environmental monitoring. Payloads of up to 7kg are carried.<br><br><br />
More information can be found on the [[Adler_Uni_Stuttgart|Wiki page]].<br />
|<br />
|-<br />
<br />
<br />
|-<br />
<br />
<br />
|-<br />
|<h3>[[News Archives]]</h3><br />
|-<br />
| style="color:#000"|<br />
[[Image:One_Small_Step.jpg|thumb|left|[[News Archives]]]] [[News Archives|Browse the archives]] for a look back at the earlier days of Paparazzi.<br />
|-<br />
<br />
|}<br />
|}</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=File:Wikiicon.png&diff=13268File:Wikiicon.png2012-10-02T10:28:13Z<p>Cdewagter: </p>
<hr />
<div></div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Main_Page&diff=13267Main Page2012-10-02T10:14:44Z<p>Cdewagter: </p>
<hr />
<div>__NOTOC__<br />
__NOEDITSECTION__<br />
<br />
{|style="border-spacing:8px;margin:0px -8px" class="MainPageBG" style="width:100%;border:1px solid #9999bf;background-color:#f5fffa;vertical-align:top;color:#000; text-align: left;"<br />
|-<br />
|align="center" colspan="2"| <h2 style="margin:0;background-color:#82add9;font-size:150%;font-weight:bold;border:0px solid #a3bfb1;text-align:center;color:#ffffff;padding:0.2em 0.4em;">Welcome To Paparazzi</h2><br />
|-valign="top"<br />
|<br />
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em;<br />
background:#cedff2;margin:-2px;padding:4px;"><br />
[[Image:favicon32.png|32px]] [[General|General]] <br />
</h3><br />
<div style="padding:6px;"><br />
{{General}}<br />
</div><br />
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em;<br />
background:#cedff2;margin:-2px;padding:4px;"><br />
[[Image:favicon32.png|32px]] [[Hardware|Hardware]] <br />
</h3><br />
<div style="padding:6px;"><br />
{{Hardware}}<br />
</div><br />
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em; <br />
background:#cedff2;margin:-2px;padding:4px;"><br />
[[Image:favicon32.png|32px]] [[Software|Software]] <br />
</h3><br />
<div style="padding:6px;"><br />
{{Software}}<br />
</div><br />
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em;<br />
background:#cedff2;margin:-2px;padding:4px;"><br />
[[Image:favicon32.png|32px]] [[Miscellaneous|Miscellaneous]] <br />
</h3><br />
<div style="padding:6px;"><br />
{{Miscellaneous}}<br />
</div><br />
<!-- Start of right-column --><br />
| class="MainPageBG" style="width:70%;border:1px solid #cedff2;background-color:#f5faff;vertical-align:top"|<br />
{|width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa"<br />
|-valign="top"<br />
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi Project</h2><br />
|-<br />
|style="color:#000"|'''Paparazzi''' is a free and open-source hardware and software project intended to create an exceptionally powerful and versatile autopilot system for fixedwing aircrafts as well as multicopters by allowing and encouraging input from the community. The project includes not only the airborne hardware and software, from voltage regulators and GPS receivers to [http://en.wikipedia.org/wiki/Kalman_filtering Kalman filtering] code, but also a powerful and ever-expanding array of ground hardware and software including modems, antennas, and a highly evolved user-friendly ground control software interface.<br />
|-<br />
|All hardware and software is open-source and freely available to anyone under the [http://www.gnu.org GNU] licencing agreement. [[Get_Hardware| Several vendors]] are currently producing and selling Paparazzi autopilots and popular accessories, making the system easy and affordable to all.<br />
|-<br />
|The key feature of the paparazzi autopilot is its unique combination of inertial measurement and/or infrared thermopiles for attitude sensing, providing a robust and accurate attitude estimate that requires no ground calibration and can recover from any launch attitude.<br />
|-<br />
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi project at ENAC</h2><br />
|-<br />
|The Paparazzi [http://en.wikipedia.org/wiki/Unmanned_Aircraft_System UAS] project is now being used and developed at [http://www.enac.fr/ ENAC University] and the MAVlab of the TU-Delft.<br />
|-<br />
|style="color:#000"|<br />
* [http://paparazzi.enac.fr/debian/ Debian repository] and [https://launchpad.net/~paparazzi-uav/+archive/ppa Ubuntu repository] containing some packages not in the official distribution and required to run Paparazzi.<br />
|-<br />
| <h2 style="margin:0;background-color:#ff9b00;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">Legal disclaimer</h2><br />
|-<br />
|The Paparazzi software and hardware are distributed without any guarantee, in particular they are not certified by any national or international authorities. Before flying, please refer to your country national aviation regulation for Unmanned Aerial Systems, or the one of the country you intend to overfly.<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#ebf5ff;border:1px solid #9dcef2; text-align: justify;"<br />
| <h2 style="margin:0;background-color:#6daef2;font-size:120%;font-weight:bold;border:1px solid #8fa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">Latest stable release</h2><br />
|-<br />
|<h3>v4.0.2_stable</h3><br />
|-<br />
|Download as [https://github.com/paparazzi/paparazzi/tarball/v4.0.2_stable tarball] or [https://github.com/paparazzi/paparazzi/zipball/v4.0.2_stable Zip file] or checkout the '''v4.0''' branch from [[git]].<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="2" style="vertical-align:top;background-color:#ffff;border:1px solid #9dcef2; text-align: justify;"<br />
| <br />
<br />
{|-<br />
| [[Image:mainlinglist.png|link=http://lists.gnu.org/archive/html/paparazzi-devel/|Mailinglist]] <br />
|| [[Image:githubicon.png|link=https://github.com/paparazzi/|GitHub]] <br />
|| [[Image:download.png|link=https://github.com/paparazzi/paparazzi/tags|Download]] <br />
|| [[Image:twitter.png|link=https://twitter.com/paparazziuas|Twitter]] <br />
|| [[Image:blog.png|link=http://paparazziuav.org/|Blog]] <br />
|| [[Image:youtubeicon.png|link=http://www.youtube.com/user/paparazziUAS|YouTube]] <br />
|| [[Image:chat.png|link=Contact#The_IRC_Chat_Channel|Blog]] <br />
<br />
|}<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#ebf5ff;border:1px solid #9dcef2; text-align: justify;"<br />
| <h2 style="margin:0;background-color:#9dcef2;font-size:120%;font-weight:bold;border:1px solid #8fa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">Upcoming</h2><br />
<br />
|-<br />
|<h3>September 26-27th, 2012</h3><br />
|-<br />
|<br />
<br />
ENAC will be at the [http://www.uavshow-europe.com/ UAV Show Europe] in Bordeaux, France, for flight demonstrations.<br />
<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#faf5ff;border:1px solid #ddcef2; text-align: justify;"<br />
| <h2 style="margin:0;background-color:#ddcef2;font-size:120%;font-weight:bold;border:1px solid #afa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">News</h2><br />
<br />
|-<br />
|<h3>July 26th, 2012</h3><br />
|-<br />
|[[Image:Dc20-logo_smsq.png|thumb|left|DefCon 20]]<br />
<br />
Paparazzi was at the [https://www.defcon.org/html/defcon-20/dc-20-index.html DefCon 20] conference in Las Vegas, USA from July 26th - 29th 2012.<br />
<br />
|-<br />
|<h3>July 26th, 2012</h3><br />
|-<br />
|[[Image:penguin_logo.gif|thumb|left|Paparazzi<br>The Free Autopilot]]<br />
<br />
<span style="color:red">'''NEW RELEASE!'''</span><br />
<br />
The Paparazzi Development Team is pleased to announce the release of the '''Paparazzi v4.0 stable''' version.<br />
<br />
After several months of testing and debugging, the [[RepositoryStructure|release preparation branch v3.9]] has been released as v4.0. See the [https://github.com/paparazzi/paparazzi/blob/v4.0/CHANGELOG.md changelog] for an overview of new features and bugfixes.<br />
<br />
If you are already using paparazzi with [[Git]], you can switch to this new branch with<br />
<br />
'''<code>git remote update && git checkout v4.0</code>'''.<br />
<br />
For new user, it will be the default branch when getting the [[Installation#Getting_the_Source_Code|source code from Github]]. You can also download a [https://github.com/paparazzi/paparazzi/tarball/v4.0_stable tarball] or [https://github.com/paparazzi/paparazzi/zipball/v4.0_stable Zip file] of the <tt>v4.0_stable</tt> source code.<br />
<br />
|-<br />
|<h3>July 2-6th, 2012</h3><br />
|-<br />
|[[Image:Blender_at_IMAV2012.JPG|thumb|left|Blender: 312mm / 340g]]<br />
<br />
'''Blender''', the small but deserving quadrotor of ENAC Paparazzi Team took the 1st place in "Outdoor autonomy" and 3rd place in "Outdoor dynamics" during [http://www.imav2012.org/ IMAV2012] competition in Braunschweig (Germany). Completing its missions with overflowing enthusiasm thanks to the new [[NavGo_v3|'''NavGo''']] autopilot. NavGo is the latest in the long line of award winning Paparazzi hardware available. See the list of Paparazzi hardware [[Autopilots |here]].<br />
<br />
<br />
|-<br />
|<h3>July 6th, 2012</h3><br />
|-<br />
|[[Image:Atmos.png|thumb|left|[ATMOS|http://www.teamatmos.nl/]]]<br />
<br />
<br />
'''[http://www.teamatmos.nl/ ATMOS]''', a hybrid [http://www.teamatmos.nl/video airplane-quadrotor] developed at the MAVlab of TU-Delft, was awarded third place (out of 140) in the [http://www.uavforge.net/ UAVForge] Competition. There were more than 140 initial [http://www.uavforge.net/uavhtml/milestones.php contestants] and after several selection rounds with only 12 finalists, the paparazzi [[Lisa/M]] powered [http://www.teamatmos.nl/ ATMOS] was one of the few that could actually make it to the remote target site miles away in an RF unfriendly environment. No team fully completed the baseline objectives which is why no prices were issued. The vertical takeoff and landing, together with long range thanks to the wing and flexibility thanks to opensource paparazzi were key factors in this event [http://www.youtube.com/watch?v=81NvfLFzhqQ]. <br />
<br />
But probably more important, the development of [http://www.teamatmos.nl/ ATMOS] has added a new [https://github.com/tudelft/paparazzi/tree/atmos-master4-flyoff code-base] to paparazzi to enable the control of any hybrid [https://github.com/tudelft/paparazzi/blob/atmos-master4-flyoff/sw/airborne/firmwares/rotorcraft/force_allocation_laws.c multi-lifting] device vehicle. ATMOS can take-off vertically as a quadrotor, transition to full forward flight as an airplane but also fly in any intermediate transition stage fully autonomously. So let your imagination go loose!<br />
<br />
|-<br />
|<h3>May 9th, 2012</h3><br />
|-<br />
|[[Image:Git-Logo-2Color.png|thumb|left|[[RepositoryStructure|New git branching model]]]]<br />
<br />
'''In order to improve the development workflow and provide stable releases we have changed our git branching model.'''<br />
<br />
<span style="color:red">'''The branch "master" is now our development branch.'''</span><br />
<br />
* The "dev" branch was renamed to the release preparation branch "v3.9". Switch to this branch if you want stable code.<br />
* "master" was reset to the previous "locm3" branch, where development will happen now with libopencm3 for the STM32 architecture.<br />
<br />
Please see the [[RepositoryStructure]] page for more details.<br />
<br />
As soon as we are ready to release v4.0 the will be tarballs available if you don't want to use [[Git]].<br />
<br />
|-<br />
|<h3>May 8th, 2012</h3><br />
|-<br />
|[[Image:Youtube.png|thumb|left|[http://www.youtube.com/playlist?list=PL91197EBE66E78E38 link to youtube video collection]]]<br />
<br />
A lot of cool stuff is done with paparazzi driven UAV`s<br />
To share the world what the paparazzi community is doing a [http://www.youtube.com/playlist?list=PL91197EBE66E78E38 youtube video play list] generated. If you want your video in there send a youtube link to the mailing list.<br />
<br />
|-<br />
|<h3>April 9th, 2012</h3><br />
|-<br />
|[[Image:Mini-Horus_Launch_in_Mada.jpg|thumb|left|Take off in Madagascar]]<br />
<br />
In March 2012, Paparazzi flew in southern Madagascar in the frame of a multi-university project to study and improve the ecosystem in one of the poorest regions of the world ([http://www.sulama.de Project]). More than 4000 hectares of farm and grassland were photographed in visible and near infrared spectra. More than 8500 photos were taken. Surely one of the biggest missions for science ever flown with Paparazzi.<br />
<br />
|-<br />
|<h3>March 7th, 2012</h3><br />
|-<br />
|[[Image:Sumo_launch.jpg|thumb|left|Take off in Antarctica]]<br />
<br />
In the Antarctic summer of 2011/2012 two teams flew Paparazzi-driven UAS on the southernmost continent. The University of Bergen flew at the Norwegian Troll station ([http://www.youtube.com/watch?v=0T9fyCNLllI video]) and the University of Colorado near the US McMurdo station ([http://dl.dropbox.com/u/53700947/Antarctic_blog/blog_20120124.htm blog], [http://alices-wonderland-adventures.blogspot.com/2012/01/uav-flights-take-2.html blog]). They measured temperature, humidity, pressure, infrared radiation and wind with a Multiplex Funjet plane.<br />
<br />
|-<br />
|<h3>December 26th, 2011</h3><br />
|-<br />
|[[Image:28C3_logo.png|thumb|left|Paparazzi at 28C3]]<br />
<br />
We had a table at the [http://events.ccc.de/congress/2011/wiki/Welcome 28C3] conference.<br />
<br />
|-<br />
|<h3>December 25th, 2011</h3><br />
|-<br />
|[[Image:Cre187-paparazzi.png|thumb|left|CRE187 - Paparazzi]]<br />
<br />
Martin Müller gave a great interview about the history and the inner workings of Paparazzi on [http://cre.fm/cre187 CRE Podcast].<br />
<br />
|-<br />
|<h3>October 5th, 2011</h3><br />
|-<br />
|[[Image:Umarim_v1-0_bottom_side.jpg|thumb|left|Umarim v1.0]]<br />
<br />
ENAC Team [http://paparazzi.enac.fr/wiki/Umarim_v10 Umarim V1.0 autopilot] is now released: LPC based, on-board IMU & barometer, narrow fuselage form factor (56x25mm) and lightweight (9gr) are its main features. Add your favorite GPS receiver and it will fit in your stupidly thin light UAV prototype. But it will also do the job for a big fat one. [http://paparazzi.enac.fr/wiki/Umarim_v10 More info here...]<br />
<br />
|-<br />
|<h3>September 18th, 2011</h3><br />
|-<br />
|[[Image:enac_imav11_1.jpg|thumb|left|IMAV 2011 Outdoor Competition ]]<br />
<br />
This year [http://www.imav2011.org/ IMAV 2011] went really well for all of the participants, we have seen lots of successful flights. ENAC Paparazzi Team took the 2nd place in general "Outdoor Challenge" and [http://paparazzi.enac.fr/wiki/Fire-Storm Fire Storm] demonstrated 105+ minutes of flight and took the "Best Outdoor Endurance Award". He was waiting this day for 2 years since the cancelation of IMAV09. <br />
As an additional information, Fire Storm flew its endurance mission with the new [http://paparazzi.enac.fr/wiki/Umarim_v10 Umarim V1.0] autopilot board which will be released soon.<br />
<br />
|-<br />
|<h3>August 31st, 2011</h3><br />
|-<br />
|[[Image:Quadshot_picture.jpg|thumb|left|The Quadshot]]<br />
<br />
Paparazzi is used in the [http://thequadshot.com Quadshot]: A blend between a quadrocopter and a flying wing. The Quadshot and Paparazzi are also featured in an [http://revision3.com/hak5/backtothestudio episode of Hak5]. You can also skip directly to the [http://www.youtube.com/watch?v=YeP7MMnP33g interview with Piotr] talking about how Paparazzi is used in the Quadshot, and briefly [http://www.youtube.com/watch?v=ANPX3UwRMnw explains the XML airframe file and the GCS].<br />
<br />
|-<br />
|<h3>February 15th, 2011</h3><br />
|-<br />
|[[Image:Finnarp.jpg|thumb|left|Paparazzi in Antarctica]]<br />
<br />
Paparazzi has flown on the southernmost continent: Antarctica. Scientists from the [http://en.ilmatieteenlaitos.fi/press-release/127535 Finnish Meteorological Institute] took three modified Funjets to the Finnish Aboa station and brought them back safely after more than 25 flights. They measured temperature, humidity, pressure, wind direction and speed in altitudes up to 1000m.<br />
<br />
|-<br />
|<h3>February 10th, 2011</h3><br />
|-<br />
|[[Image:ScreenShot.jpg|thumb|left|Paparazzi on OS X]]<br />
<br />
Paparazzi now on OS X. Thanks to the tireless efforts of Eric and Bernard we can all run [http://paparazzi.enac.fr/wiki/InstallationMacOSX Paparazzi on OS X]. Stay tuned Windows fans. Paparazzi on Windows is coming soon.<br />
<br />
|-<br />
|<h3>November 26th, 2010</h3><br />
|-<br />
|[[Image:Wingdrop.png|thumb|left|[http://www.youtube.com/watch?v=TFrognLZ2Ak wingdrop]]]<br />
<br />
There is a [http://www.youtube.com/watch?v=TFrognLZ2Ak video] available that shows how Paparazzis adaptive control loops keep a Twinstar in the air that drops 30% of its right wing with 50% of the aileron and then also switches the right engine off. Another [http://www.youtube.com/watch?v=N0H9xWckeYQ video] shows a Paparazzi quadcopter using adaptive control to stay level after dropping 50% of its total weight.<br />
<br />
|-<br />
<br />
|-<br />
|<h3>November 19th, 2010</h3><br />
|-<br />
|[[Image:Github.png|thumb|left|[[Git]]]]<br />
'''WE MOVED TO GIT!'''<br />
<br />
The paparazzi software repository now has a new happy life on github:<br />
<br />
'''https://github.com/paparazzi/paparazzi'''<br />
<br />
We believe the switch from Subversion to the fast [http://git-scm.com/ git] version control system will make development easier, faster and more fun. It also makes it easier for YOU to contribute. You can easily fork paparazzi on github, commit your bugfixes and new features and send us a pull request.<br />
<br />
More info on how to get the paparazzi code from github can be found [[Git|here]].<br />
<br />
We also want to encourage you to submit bugs or feature requests on the simple [https://github.com/paparazzi/paparazzi/issues github issue tracker].<br />
<br />
|<br />
|-<br />
<br />
<br />
|-<br />
|<h3>August, 2010</h3><br />
|-<br />
|[[Image:OrganizedCode.png|thumb|left|[[User/AirborneCodeReorg|Code Reorganization]]]]<br />
After many years of development, so many new autopilot boards and aircraft types have been added that a [http://en.wikipedia.org/wiki/Source_code sourcecode] reorganization was needed. This undertaking is started and will simplify the continuous evolution of the project.<br />
<br />
To benefit from these important changes, it only requires you to update your airframe configuration document once. After you have updated, you should not notice the significant reorganization that is going on behind the scenes. This change will benefit your aircrafts flying successfully for the years to come. The required changes are described on [[User/AirborneCodeReorg| Update Your Airframe Configuration]]. <br />
<br />
At this point several developments are blocked because of this. Therefor we kindly request you to upgrade your airframe configuration documents as soon as possible and thank you in advance for doing so.<br />
<br />
|<br />
|-<br />
<br />
<br />
|-<br />
|<h3>May 22th, 2010</h3><br />
|-<br />
|[[Image:PascalTPS.jpg|thumb|left|[[Hecto| Pascal Brisset]]]]<br />
Pascal Brisset, also known as Hecto, and the father of the Paparazzi project died in an accident while climbing in the Pyrénées mountains in the south of France.<br />
He had dedicated the last seven years of his life to the success of the project. He was taking care by himself of a huge part of the project. To name only a few : development and maintenance of the entire ground segment, navigation and flight plan algorithms, code generation and build system, distribution packaging, server infrastructure...<br />
<br />
To express your grief, you may want to [[Hecto| leave a note on his wiki page]]<br />
<br />
In respect for his commitment, the Paparazzi project must go on and volunteers wanting to take over tasks are hereby asked to do so.<br />
<br />
|<br />
|-<br />
<br />
<br />
|-<br />
<br />
|<h3>February 19th, 2010</h3><br />
|-<br />
|[[Image:Adler_c.jpg|thumb|left|[[Adler_Uni_Stuttgart| The 'Stuttgarter Adler']]]]<br />
The [http://www.irs.uni-stuttgart.de Institute of space systems] of [http://www.uni-stuttgart.de/index.en.html University of Stuttgart] is using the paparazzi system for large remote sensing aircrafts.<br> <br />
The missions include basic research and environmental monitoring. Payloads of up to 7kg are carried.<br><br><br />
More information can be found on the [[Adler_Uni_Stuttgart|Wiki page]].<br />
|<br />
|-<br />
<br />
<br />
|-<br />
<br />
<br />
|-<br />
|<h3>[[News Archives]]</h3><br />
|-<br />
| style="color:#000"|<br />
[[Image:One_Small_Step.jpg|thumb|left|[[News Archives]]]] [[News Archives|Browse the archives]] for a look back at the earlier days of Paparazzi.<br />
|-<br />
<br />
|}<br />
|}</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=File:Youtubeicon.png&diff=13266File:Youtubeicon.png2012-10-02T10:12:18Z<p>Cdewagter: uploaded a new version of "File:Youtubeicon.png"</p>
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<div></div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=File:Blog.png&diff=13265File:Blog.png2012-10-02T10:11:42Z<p>Cdewagter: uploaded a new version of "File:Blog.png"</p>
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<div></div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=File:Download.png&diff=13264File:Download.png2012-10-02T10:11:26Z<p>Cdewagter: uploaded a new version of "File:Download.png"</p>
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<div></div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=File:Githubicon.png&diff=13263File:Githubicon.png2012-10-02T10:11:06Z<p>Cdewagter: uploaded a new version of "File:Githubicon.png"</p>
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<div></div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=File:Twitter.png&diff=13262File:Twitter.png2012-10-02T10:10:49Z<p>Cdewagter: uploaded a new version of "File:Twitter.png"</p>
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<div></div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=File:Mainlinglist.png&diff=13261File:Mainlinglist.png2012-10-02T10:10:30Z<p>Cdewagter: uploaded a new version of "File:Mainlinglist.png"</p>
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<div></div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=File:Chat.png&diff=13260File:Chat.png2012-10-02T10:09:58Z<p>Cdewagter: </p>
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<div></div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=File:Githubicon.png&diff=13259File:Githubicon.png2012-10-02T09:57:05Z<p>Cdewagter: </p>
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<div></div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Main_Page&diff=13258Main Page2012-10-02T09:56:48Z<p>Cdewagter: </p>
<hr />
<div>__NOTOC__<br />
__NOEDITSECTION__<br />
<br />
{|style="border-spacing:8px;margin:0px -8px" class="MainPageBG" style="width:100%;border:1px solid #9999bf;background-color:#f5fffa;vertical-align:top;color:#000; text-align: left;"<br />
|-<br />
|align="center" colspan="2"| <h2 style="margin:0;background-color:#82add9;font-size:150%;font-weight:bold;border:0px solid #a3bfb1;text-align:center;color:#ffffff;padding:0.2em 0.4em;">Welcome To Paparazzi</h2><br />
|-valign="top"<br />
|<br />
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em;<br />
background:#cedff2;margin:-2px;padding:4px;"><br />
[[Image:favicon32.png|32px]] [[General|General]] <br />
</h3><br />
<div style="padding:6px;"><br />
{{General}}<br />
</div><br />
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em;<br />
background:#cedff2;margin:-2px;padding:4px;"><br />
[[Image:favicon32.png|32px]] [[Hardware|Hardware]] <br />
</h3><br />
<div style="padding:6px;"><br />
{{Hardware}}<br />
</div><br />
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em; <br />
background:#cedff2;margin:-2px;padding:4px;"><br />
[[Image:favicon32.png|32px]] [[Software|Software]] <br />
</h3><br />
<div style="padding:6px;"><br />
{{Software}}<br />
</div><br />
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em;<br />
background:#cedff2;margin:-2px;padding:4px;"><br />
[[Image:favicon32.png|32px]] [[Miscellaneous|Miscellaneous]] <br />
</h3><br />
<div style="padding:6px;"><br />
{{Miscellaneous}}<br />
</div><br />
<!-- Start of right-column --><br />
| class="MainPageBG" style="width:70%;border:1px solid #cedff2;background-color:#f5faff;vertical-align:top"|<br />
{|width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa"<br />
|-valign="top"<br />
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi Project</h2><br />
|-<br />
|style="color:#000"|'''Paparazzi''' is a free and open-source hardware and software project intended to create an exceptionally powerful and versatile autopilot system for fixedwing aircrafts as well as multicopters by allowing and encouraging input from the community. The project includes not only the airborne hardware and software, from voltage regulators and GPS receivers to [http://en.wikipedia.org/wiki/Kalman_filtering Kalman filtering] code, but also a powerful and ever-expanding array of ground hardware and software including modems, antennas, and a highly evolved user-friendly ground control software interface.<br />
|-<br />
|All hardware and software is open-source and freely available to anyone under the [http://www.gnu.org GNU] licencing agreement. [[Get_Hardware| Several vendors]] are currently producing and selling Paparazzi autopilots and popular accessories, making the system easy and affordable to all.<br />
|-<br />
|The key feature of the paparazzi autopilot is its unique combination of inertial measurement and/or infrared thermopiles for attitude sensing, providing a robust and accurate attitude estimate that requires no ground calibration and can recover from any launch attitude.<br />
|-<br />
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi project at ENAC</h2><br />
|-<br />
|The Paparazzi [http://en.wikipedia.org/wiki/Unmanned_Aircraft_System UAS] project is now being used and developed at [http://www.enac.fr/ ENAC University] and the MAVlab of the TU-Delft.<br />
|-<br />
|style="color:#000"|<br />
* [http://paparazzi.enac.fr/debian/ Debian repository] and [https://launchpad.net/~paparazzi-uav/+archive/ppa Ubuntu repository] containing some packages not in the official distribution and required to run Paparazzi.<br />
|-<br />
| <h2 style="margin:0;background-color:#ff9b00;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">Legal disclaimer</h2><br />
|-<br />
|The Paparazzi software and hardware are distributed without any guarantee, in particular they are not certified by any national or international authorities. Before flying, please refer to your country national aviation regulation for Unmanned Aerial Systems, or the one of the country you intend to overfly.<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#ebf5ff;border:1px solid #9dcef2; text-align: justify;"<br />
| <h2 style="margin:0;background-color:#6daef2;font-size:120%;font-weight:bold;border:1px solid #8fa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">Latest stable release</h2><br />
|-<br />
|<h3>v4.0.2_stable</h3><br />
|-<br />
|Download as [https://github.com/paparazzi/paparazzi/tarball/v4.0.2_stable tarball] or [https://github.com/paparazzi/paparazzi/zipball/v4.0.2_stable Zip file] or checkout the '''v4.0''' branch from [[git]].<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="2" style="vertical-align:top;background-color:#ffff;border:1px solid #9dcef2; text-align: justify;"<br />
| <br />
<br />
{|-<br />
| [[Image:mainlinglist.png|link=http://lists.gnu.org/archive/html/paparazzi-devel/|Mailinglist]] <br />
|| [[Image:githubicon.png|link=https://github.com/paparazzi/|GitHub]] <br />
|| [[Image:download.png|link=https://github.com/paparazzi/paparazzi/tags|Download]] <br />
|| [[Image:twitter.png|link=https://twitter.com/paparazziuas|Twitter]] <br />
|| [[Image:blog.png|link=http://paparazziuav.org/|Blog]] <br />
|| [[Image:youtubeicon.png|link=http://www.youtube.com/user/paparazziUAS|YouTube]] <br />
<br />
|}<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#ebf5ff;border:1px solid #9dcef2; text-align: justify;"<br />
| <h2 style="margin:0;background-color:#9dcef2;font-size:120%;font-weight:bold;border:1px solid #8fa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">Upcoming</h2><br />
<br />
|-<br />
|<h3>September 26-27th, 2012</h3><br />
|-<br />
|<br />
<br />
ENAC will be at the [http://www.uavshow-europe.com/ UAV Show Europe] in Bordeaux, France, for flight demonstrations.<br />
<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#faf5ff;border:1px solid #ddcef2; text-align: justify;"<br />
| <h2 style="margin:0;background-color:#ddcef2;font-size:120%;font-weight:bold;border:1px solid #afa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">News</h2><br />
<br />
|-<br />
|<h3>July 26th, 2012</h3><br />
|-<br />
|[[Image:Dc20-logo_smsq.png|thumb|left|DefCon 20]]<br />
<br />
Paparazzi was at the [https://www.defcon.org/html/defcon-20/dc-20-index.html DefCon 20] conference in Las Vegas, USA from July 26th - 29th 2012.<br />
<br />
|-<br />
|<h3>July 26th, 2012</h3><br />
|-<br />
|[[Image:penguin_logo.gif|thumb|left|Paparazzi<br>The Free Autopilot]]<br />
<br />
<span style="color:red">'''NEW RELEASE!'''</span><br />
<br />
The Paparazzi Development Team is pleased to announce the release of the '''Paparazzi v4.0 stable''' version.<br />
<br />
After several months of testing and debugging, the [[RepositoryStructure|release preparation branch v3.9]] has been released as v4.0. See the [https://github.com/paparazzi/paparazzi/blob/v4.0/CHANGELOG.md changelog] for an overview of new features and bugfixes.<br />
<br />
If you are already using paparazzi with [[Git]], you can switch to this new branch with<br />
<br />
'''<code>git remote update && git checkout v4.0</code>'''.<br />
<br />
For new user, it will be the default branch when getting the [[Installation#Getting_the_Source_Code|source code from Github]]. You can also download a [https://github.com/paparazzi/paparazzi/tarball/v4.0_stable tarball] or [https://github.com/paparazzi/paparazzi/zipball/v4.0_stable Zip file] of the <tt>v4.0_stable</tt> source code.<br />
<br />
|-<br />
|<h3>July 2-6th, 2012</h3><br />
|-<br />
|[[Image:Blender_at_IMAV2012.JPG|thumb|left|Blender: 312mm / 340g]]<br />
<br />
'''Blender''', the small but deserving quadrotor of ENAC Paparazzi Team took the 1st place in "Outdoor autonomy" and 3rd place in "Outdoor dynamics" during [http://www.imav2012.org/ IMAV2012] competition in Braunschweig (Germany). Completing its missions with overflowing enthusiasm thanks to the new [[NavGo_v3|'''NavGo''']] autopilot. NavGo is the latest in the long line of award winning Paparazzi hardware available. See the list of Paparazzi hardware [[Autopilots |here]].<br />
<br />
<br />
|-<br />
|<h3>July 6th, 2012</h3><br />
|-<br />
|[[Image:Atmos.png|thumb|left|[ATMOS|http://www.teamatmos.nl/]]]<br />
<br />
<br />
'''[http://www.teamatmos.nl/ ATMOS]''', a hybrid [http://www.teamatmos.nl/video airplane-quadrotor] developed at the MAVlab of TU-Delft, was awarded third place (out of 140) in the [http://www.uavforge.net/ UAVForge] Competition. There were more than 140 initial [http://www.uavforge.net/uavhtml/milestones.php contestants] and after several selection rounds with only 12 finalists, the paparazzi [[Lisa/M]] powered [http://www.teamatmos.nl/ ATMOS] was one of the few that could actually make it to the remote target site miles away in an RF unfriendly environment. No team fully completed the baseline objectives which is why no prices were issued. The vertical takeoff and landing, together with long range thanks to the wing and flexibility thanks to opensource paparazzi were key factors in this event [http://www.youtube.com/watch?v=81NvfLFzhqQ]. <br />
<br />
But probably more important, the development of [http://www.teamatmos.nl/ ATMOS] has added a new [https://github.com/tudelft/paparazzi/tree/atmos-master4-flyoff code-base] to paparazzi to enable the control of any hybrid [https://github.com/tudelft/paparazzi/blob/atmos-master4-flyoff/sw/airborne/firmwares/rotorcraft/force_allocation_laws.c multi-lifting] device vehicle. ATMOS can take-off vertically as a quadrotor, transition to full forward flight as an airplane but also fly in any intermediate transition stage fully autonomously. So let your imagination go loose!<br />
<br />
|-<br />
|<h3>May 9th, 2012</h3><br />
|-<br />
|[[Image:Git-Logo-2Color.png|thumb|left|[[RepositoryStructure|New git branching model]]]]<br />
<br />
'''In order to improve the development workflow and provide stable releases we have changed our git branching model.'''<br />
<br />
<span style="color:red">'''The branch "master" is now our development branch.'''</span><br />
<br />
* The "dev" branch was renamed to the release preparation branch "v3.9". Switch to this branch if you want stable code.<br />
* "master" was reset to the previous "locm3" branch, where development will happen now with libopencm3 for the STM32 architecture.<br />
<br />
Please see the [[RepositoryStructure]] page for more details.<br />
<br />
As soon as we are ready to release v4.0 the will be tarballs available if you don't want to use [[Git]].<br />
<br />
|-<br />
|<h3>May 8th, 2012</h3><br />
|-<br />
|[[Image:Youtube.png|thumb|left|[http://www.youtube.com/playlist?list=PL91197EBE66E78E38 link to youtube video collection]]]<br />
<br />
A lot of cool stuff is done with paparazzi driven UAV`s<br />
To share the world what the paparazzi community is doing a [http://www.youtube.com/playlist?list=PL91197EBE66E78E38 youtube video play list] generated. If you want your video in there send a youtube link to the mailing list.<br />
<br />
|-<br />
|<h3>April 9th, 2012</h3><br />
|-<br />
|[[Image:Mini-Horus_Launch_in_Mada.jpg|thumb|left|Take off in Madagascar]]<br />
<br />
In March 2012, Paparazzi flew in southern Madagascar in the frame of a multi-university project to study and improve the ecosystem in one of the poorest regions of the world ([http://www.sulama.de Project]). More than 4000 hectares of farm and grassland were photographed in visible and near infrared spectra. More than 8500 photos were taken. Surely one of the biggest missions for science ever flown with Paparazzi.<br />
<br />
|-<br />
|<h3>March 7th, 2012</h3><br />
|-<br />
|[[Image:Sumo_launch.jpg|thumb|left|Take off in Antarctica]]<br />
<br />
In the Antarctic summer of 2011/2012 two teams flew Paparazzi-driven UAS on the southernmost continent. The University of Bergen flew at the Norwegian Troll station ([http://www.youtube.com/watch?v=0T9fyCNLllI video]) and the University of Colorado near the US McMurdo station ([http://dl.dropbox.com/u/53700947/Antarctic_blog/blog_20120124.htm blog], [http://alices-wonderland-adventures.blogspot.com/2012/01/uav-flights-take-2.html blog]). They measured temperature, humidity, pressure, infrared radiation and wind with a Multiplex Funjet plane.<br />
<br />
|-<br />
|<h3>December 26th, 2011</h3><br />
|-<br />
|[[Image:28C3_logo.png|thumb|left|Paparazzi at 28C3]]<br />
<br />
We had a table at the [http://events.ccc.de/congress/2011/wiki/Welcome 28C3] conference.<br />
<br />
|-<br />
|<h3>December 25th, 2011</h3><br />
|-<br />
|[[Image:Cre187-paparazzi.png|thumb|left|CRE187 - Paparazzi]]<br />
<br />
Martin Müller gave a great interview about the history and the inner workings of Paparazzi on [http://cre.fm/cre187 CRE Podcast].<br />
<br />
|-<br />
|<h3>October 5th, 2011</h3><br />
|-<br />
|[[Image:Umarim_v1-0_bottom_side.jpg|thumb|left|Umarim v1.0]]<br />
<br />
ENAC Team [http://paparazzi.enac.fr/wiki/Umarim_v10 Umarim V1.0 autopilot] is now released: LPC based, on-board IMU & barometer, narrow fuselage form factor (56x25mm) and lightweight (9gr) are its main features. Add your favorite GPS receiver and it will fit in your stupidly thin light UAV prototype. But it will also do the job for a big fat one. [http://paparazzi.enac.fr/wiki/Umarim_v10 More info here...]<br />
<br />
|-<br />
|<h3>September 18th, 2011</h3><br />
|-<br />
|[[Image:enac_imav11_1.jpg|thumb|left|IMAV 2011 Outdoor Competition ]]<br />
<br />
This year [http://www.imav2011.org/ IMAV 2011] went really well for all of the participants, we have seen lots of successful flights. ENAC Paparazzi Team took the 2nd place in general "Outdoor Challenge" and [http://paparazzi.enac.fr/wiki/Fire-Storm Fire Storm] demonstrated 105+ minutes of flight and took the "Best Outdoor Endurance Award". He was waiting this day for 2 years since the cancelation of IMAV09. <br />
As an additional information, Fire Storm flew its endurance mission with the new [http://paparazzi.enac.fr/wiki/Umarim_v10 Umarim V1.0] autopilot board which will be released soon.<br />
<br />
|-<br />
|<h3>August 31st, 2011</h3><br />
|-<br />
|[[Image:Quadshot_picture.jpg|thumb|left|The Quadshot]]<br />
<br />
Paparazzi is used in the [http://thequadshot.com Quadshot]: A blend between a quadrocopter and a flying wing. The Quadshot and Paparazzi are also featured in an [http://revision3.com/hak5/backtothestudio episode of Hak5]. You can also skip directly to the [http://www.youtube.com/watch?v=YeP7MMnP33g interview with Piotr] talking about how Paparazzi is used in the Quadshot, and briefly [http://www.youtube.com/watch?v=ANPX3UwRMnw explains the XML airframe file and the GCS].<br />
<br />
|-<br />
|<h3>February 15th, 2011</h3><br />
|-<br />
|[[Image:Finnarp.jpg|thumb|left|Paparazzi in Antarctica]]<br />
<br />
Paparazzi has flown on the southernmost continent: Antarctica. Scientists from the [http://en.ilmatieteenlaitos.fi/press-release/127535 Finnish Meteorological Institute] took three modified Funjets to the Finnish Aboa station and brought them back safely after more than 25 flights. They measured temperature, humidity, pressure, wind direction and speed in altitudes up to 1000m.<br />
<br />
|-<br />
|<h3>February 10th, 2011</h3><br />
|-<br />
|[[Image:ScreenShot.jpg|thumb|left|Paparazzi on OS X]]<br />
<br />
Paparazzi now on OS X. Thanks to the tireless efforts of Eric and Bernard we can all run [http://paparazzi.enac.fr/wiki/InstallationMacOSX Paparazzi on OS X]. Stay tuned Windows fans. Paparazzi on Windows is coming soon.<br />
<br />
|-<br />
|<h3>November 26th, 2010</h3><br />
|-<br />
|[[Image:Wingdrop.png|thumb|left|[http://www.youtube.com/watch?v=TFrognLZ2Ak wingdrop]]]<br />
<br />
There is a [http://www.youtube.com/watch?v=TFrognLZ2Ak video] available that shows how Paparazzis adaptive control loops keep a Twinstar in the air that drops 30% of its right wing with 50% of the aileron and then also switches the right engine off. Another [http://www.youtube.com/watch?v=N0H9xWckeYQ video] shows a Paparazzi quadcopter using adaptive control to stay level after dropping 50% of its total weight.<br />
<br />
|-<br />
<br />
|-<br />
|<h3>November 19th, 2010</h3><br />
|-<br />
|[[Image:Github.png|thumb|left|[[Git]]]]<br />
'''WE MOVED TO GIT!'''<br />
<br />
The paparazzi software repository now has a new happy life on github:<br />
<br />
'''https://github.com/paparazzi/paparazzi'''<br />
<br />
We believe the switch from Subversion to the fast [http://git-scm.com/ git] version control system will make development easier, faster and more fun. It also makes it easier for YOU to contribute. You can easily fork paparazzi on github, commit your bugfixes and new features and send us a pull request.<br />
<br />
More info on how to get the paparazzi code from github can be found [[Git|here]].<br />
<br />
We also want to encourage you to submit bugs or feature requests on the simple [https://github.com/paparazzi/paparazzi/issues github issue tracker].<br />
<br />
|<br />
|-<br />
<br />
<br />
|-<br />
|<h3>August, 2010</h3><br />
|-<br />
|[[Image:OrganizedCode.png|thumb|left|[[User/AirborneCodeReorg|Code Reorganization]]]]<br />
After many years of development, so many new autopilot boards and aircraft types have been added that a [http://en.wikipedia.org/wiki/Source_code sourcecode] reorganization was needed. This undertaking is started and will simplify the continuous evolution of the project.<br />
<br />
To benefit from these important changes, it only requires you to update your airframe configuration document once. After you have updated, you should not notice the significant reorganization that is going on behind the scenes. This change will benefit your aircrafts flying successfully for the years to come. The required changes are described on [[User/AirborneCodeReorg| Update Your Airframe Configuration]]. <br />
<br />
At this point several developments are blocked because of this. Therefor we kindly request you to upgrade your airframe configuration documents as soon as possible and thank you in advance for doing so.<br />
<br />
|<br />
|-<br />
<br />
<br />
|-<br />
|<h3>May 22th, 2010</h3><br />
|-<br />
|[[Image:PascalTPS.jpg|thumb|left|[[Hecto| Pascal Brisset]]]]<br />
Pascal Brisset, also known as Hecto, and the father of the Paparazzi project died in an accident while climbing in the Pyrénées mountains in the south of France.<br />
He had dedicated the last seven years of his life to the success of the project. He was taking care by himself of a huge part of the project. To name only a few : development and maintenance of the entire ground segment, navigation and flight plan algorithms, code generation and build system, distribution packaging, server infrastructure...<br />
<br />
To express your grief, you may want to [[Hecto| leave a note on his wiki page]]<br />
<br />
In respect for his commitment, the Paparazzi project must go on and volunteers wanting to take over tasks are hereby asked to do so.<br />
<br />
|<br />
|-<br />
<br />
<br />
|-<br />
<br />
|<h3>February 19th, 2010</h3><br />
|-<br />
|[[Image:Adler_c.jpg|thumb|left|[[Adler_Uni_Stuttgart| The 'Stuttgarter Adler']]]]<br />
The [http://www.irs.uni-stuttgart.de Institute of space systems] of [http://www.uni-stuttgart.de/index.en.html University of Stuttgart] is using the paparazzi system for large remote sensing aircrafts.<br> <br />
The missions include basic research and environmental monitoring. Payloads of up to 7kg are carried.<br><br><br />
More information can be found on the [[Adler_Uni_Stuttgart|Wiki page]].<br />
|<br />
|-<br />
<br />
<br />
|-<br />
<br />
<br />
|-<br />
|<h3>[[News Archives]]</h3><br />
|-<br />
| style="color:#000"|<br />
[[Image:One_Small_Step.jpg|thumb|left|[[News Archives]]]] [[News Archives|Browse the archives]] for a look back at the earlier days of Paparazzi.<br />
|-<br />
<br />
|}<br />
|}</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=File:Youtubeicon.png&diff=13257File:Youtubeicon.png2012-10-02T09:49:42Z<p>Cdewagter: uploaded a new version of "File:Youtubeicon.png"</p>
<hr />
<div></div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Main_Page&diff=13256Main Page2012-10-02T09:48:08Z<p>Cdewagter: </p>
<hr />
<div>__NOTOC__<br />
__NOEDITSECTION__<br />
<br />
{|style="border-spacing:8px;margin:0px -8px" class="MainPageBG" style="width:100%;border:1px solid #9999bf;background-color:#f5fffa;vertical-align:top;color:#000; text-align: left;"<br />
|-<br />
|align="center" colspan="2"| <h2 style="margin:0;background-color:#82add9;font-size:150%;font-weight:bold;border:0px solid #a3bfb1;text-align:center;color:#ffffff;padding:0.2em 0.4em;">Welcome To Paparazzi</h2><br />
|-valign="top"<br />
|<br />
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em;<br />
background:#cedff2;margin:-2px;padding:4px;"><br />
[[Image:favicon32.png|32px]] [[General|General]] <br />
</h3><br />
<div style="padding:6px;"><br />
{{General}}<br />
</div><br />
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em;<br />
background:#cedff2;margin:-2px;padding:4px;"><br />
[[Image:favicon32.png|32px]] [[Hardware|Hardware]] <br />
</h3><br />
<div style="padding:6px;"><br />
{{Hardware}}<br />
</div><br />
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em; <br />
background:#cedff2;margin:-2px;padding:4px;"><br />
[[Image:favicon32.png|32px]] [[Software|Software]] <br />
</h3><br />
<div style="padding:6px;"><br />
{{Software}}<br />
</div><br />
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em;<br />
background:#cedff2;margin:-2px;padding:4px;"><br />
[[Image:favicon32.png|32px]] [[Miscellaneous|Miscellaneous]] <br />
</h3><br />
<div style="padding:6px;"><br />
{{Miscellaneous}}<br />
</div><br />
<!-- Start of right-column --><br />
| class="MainPageBG" style="width:70%;border:1px solid #cedff2;background-color:#f5faff;vertical-align:top"|<br />
{|width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa"<br />
|-valign="top"<br />
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi Project</h2><br />
|-<br />
|style="color:#000"|'''Paparazzi''' is a free and open-source hardware and software project intended to create an exceptionally powerful and versatile autopilot system for fixedwing aircrafts as well as multicopters by allowing and encouraging input from the community. The project includes not only the airborne hardware and software, from voltage regulators and GPS receivers to [http://en.wikipedia.org/wiki/Kalman_filtering Kalman filtering] code, but also a powerful and ever-expanding array of ground hardware and software including modems, antennas, and a highly evolved user-friendly ground control software interface.<br />
|-<br />
|All hardware and software is open-source and freely available to anyone under the [http://www.gnu.org GNU] licencing agreement. [[Get_Hardware| Several vendors]] are currently producing and selling Paparazzi autopilots and popular accessories, making the system easy and affordable to all.<br />
|-<br />
|The key feature of the paparazzi autopilot is its unique combination of inertial measurement and/or infrared thermopiles for attitude sensing, providing a robust and accurate attitude estimate that requires no ground calibration and can recover from any launch attitude.<br />
|-<br />
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi project at ENAC</h2><br />
|-<br />
|The Paparazzi [http://en.wikipedia.org/wiki/Unmanned_Aircraft_System UAS] project is now being used and developed at [http://www.enac.fr/ ENAC University] and the MAVlab of the TU-Delft.<br />
|-<br />
|style="color:#000"|<br />
* [http://paparazzi.enac.fr/debian/ Debian repository] and [https://launchpad.net/~paparazzi-uav/+archive/ppa Ubuntu repository] containing some packages not in the official distribution and required to run Paparazzi.<br />
|-<br />
| <h2 style="margin:0;background-color:#ff9b00;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">Legal disclaimer</h2><br />
|-<br />
|The Paparazzi software and hardware are distributed without any guarantee, in particular they are not certified by any national or international authorities. Before flying, please refer to your country national aviation regulation for Unmanned Aerial Systems, or the one of the country you intend to overfly.<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#ebf5ff;border:1px solid #9dcef2; text-align: justify;"<br />
| <h2 style="margin:0;background-color:#6daef2;font-size:120%;font-weight:bold;border:1px solid #8fa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">Latest stable release</h2><br />
|-<br />
|<h3>v4.0.2_stable</h3><br />
|-<br />
|Download as [https://github.com/paparazzi/paparazzi/tarball/v4.0.2_stable tarball] or [https://github.com/paparazzi/paparazzi/zipball/v4.0.2_stable Zip file] or checkout the '''v4.0''' branch from [[git]].<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="2" style="vertical-align:top;background-color:#ffff;border:1px solid #9dcef2; text-align: justify;"<br />
| <br />
<br />
{|-<br />
| [[Image:mainlinglist.png|link=http://lists.gnu.org/archive/html/paparazzi-devel/|Mailinglist]] <br />
|| [[Image:twitter.png|link=https://twitter.com/paparazziuas|Twitter]] <br />
|| [[Image:blog.png|link=http://paparazziuav.org/|Blog]] <br />
|| [[Image:download.png|link=https://github.com/paparazzi/paparazzi/tags|Download]] <br />
|| [[Image:youtubeicon.png|link=http://www.youtube.com/user/paparazziUAS|YouTube]] <br />
<br />
|}<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#ebf5ff;border:1px solid #9dcef2; text-align: justify;"<br />
| <h2 style="margin:0;background-color:#9dcef2;font-size:120%;font-weight:bold;border:1px solid #8fa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">Upcoming</h2><br />
<br />
|-<br />
|<h3>September 26-27th, 2012</h3><br />
|-<br />
|<br />
<br />
ENAC will be at the [http://www.uavshow-europe.com/ UAV Show Europe] in Bordeaux, France, for flight demonstrations.<br />
<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#faf5ff;border:1px solid #ddcef2; text-align: justify;"<br />
| <h2 style="margin:0;background-color:#ddcef2;font-size:120%;font-weight:bold;border:1px solid #afa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">News</h2><br />
<br />
|-<br />
|<h3>July 26th, 2012</h3><br />
|-<br />
|[[Image:Dc20-logo_smsq.png|thumb|left|DefCon 20]]<br />
<br />
Paparazzi was at the [https://www.defcon.org/html/defcon-20/dc-20-index.html DefCon 20] conference in Las Vegas, USA from July 26th - 29th 2012.<br />
<br />
|-<br />
|<h3>July 26th, 2012</h3><br />
|-<br />
|[[Image:penguin_logo.gif|thumb|left|Paparazzi<br>The Free Autopilot]]<br />
<br />
<span style="color:red">'''NEW RELEASE!'''</span><br />
<br />
The Paparazzi Development Team is pleased to announce the release of the '''Paparazzi v4.0 stable''' version.<br />
<br />
After several months of testing and debugging, the [[RepositoryStructure|release preparation branch v3.9]] has been released as v4.0. See the [https://github.com/paparazzi/paparazzi/blob/v4.0/CHANGELOG.md changelog] for an overview of new features and bugfixes.<br />
<br />
If you are already using paparazzi with [[Git]], you can switch to this new branch with<br />
<br />
'''<code>git remote update && git checkout v4.0</code>'''.<br />
<br />
For new user, it will be the default branch when getting the [[Installation#Getting_the_Source_Code|source code from Github]]. You can also download a [https://github.com/paparazzi/paparazzi/tarball/v4.0_stable tarball] or [https://github.com/paparazzi/paparazzi/zipball/v4.0_stable Zip file] of the <tt>v4.0_stable</tt> source code.<br />
<br />
|-<br />
|<h3>July 2-6th, 2012</h3><br />
|-<br />
|[[Image:Blender_at_IMAV2012.JPG|thumb|left|Blender: 312mm / 340g]]<br />
<br />
'''Blender''', the small but deserving quadrotor of ENAC Paparazzi Team took the 1st place in "Outdoor autonomy" and 3rd place in "Outdoor dynamics" during [http://www.imav2012.org/ IMAV2012] competition in Braunschweig (Germany). Completing its missions with overflowing enthusiasm thanks to the new [[NavGo_v3|'''NavGo''']] autopilot. NavGo is the latest in the long line of award winning Paparazzi hardware available. See the list of Paparazzi hardware [[Autopilots |here]].<br />
<br />
<br />
|-<br />
|<h3>July 6th, 2012</h3><br />
|-<br />
|[[Image:Atmos.png|thumb|left|[ATMOS|http://www.teamatmos.nl/]]]<br />
<br />
<br />
'''[http://www.teamatmos.nl/ ATMOS]''', a hybrid [http://www.teamatmos.nl/video airplane-quadrotor] developed at the MAVlab of TU-Delft, was awarded third place (out of 140) in the [http://www.uavforge.net/ UAVForge] Competition. There were more than 140 initial [http://www.uavforge.net/uavhtml/milestones.php contestants] and after several selection rounds with only 12 finalists, the paparazzi [[Lisa/M]] powered [http://www.teamatmos.nl/ ATMOS] was one of the few that could actually make it to the remote target site miles away in an RF unfriendly environment. No team fully completed the baseline objectives which is why no prices were issued. The vertical takeoff and landing, together with long range thanks to the wing and flexibility thanks to opensource paparazzi were key factors in this event [http://www.youtube.com/watch?v=81NvfLFzhqQ]. <br />
<br />
But probably more important, the development of [http://www.teamatmos.nl/ ATMOS] has added a new [https://github.com/tudelft/paparazzi/tree/atmos-master4-flyoff code-base] to paparazzi to enable the control of any hybrid [https://github.com/tudelft/paparazzi/blob/atmos-master4-flyoff/sw/airborne/firmwares/rotorcraft/force_allocation_laws.c multi-lifting] device vehicle. ATMOS can take-off vertically as a quadrotor, transition to full forward flight as an airplane but also fly in any intermediate transition stage fully autonomously. So let your imagination go loose!<br />
<br />
|-<br />
|<h3>May 9th, 2012</h3><br />
|-<br />
|[[Image:Git-Logo-2Color.png|thumb|left|[[RepositoryStructure|New git branching model]]]]<br />
<br />
'''In order to improve the development workflow and provide stable releases we have changed our git branching model.'''<br />
<br />
<span style="color:red">'''The branch "master" is now our development branch.'''</span><br />
<br />
* The "dev" branch was renamed to the release preparation branch "v3.9". Switch to this branch if you want stable code.<br />
* "master" was reset to the previous "locm3" branch, where development will happen now with libopencm3 for the STM32 architecture.<br />
<br />
Please see the [[RepositoryStructure]] page for more details.<br />
<br />
As soon as we are ready to release v4.0 the will be tarballs available if you don't want to use [[Git]].<br />
<br />
|-<br />
|<h3>May 8th, 2012</h3><br />
|-<br />
|[[Image:Youtube.png|thumb|left|[http://www.youtube.com/playlist?list=PL91197EBE66E78E38 link to youtube video collection]]]<br />
<br />
A lot of cool stuff is done with paparazzi driven UAV`s<br />
To share the world what the paparazzi community is doing a [http://www.youtube.com/playlist?list=PL91197EBE66E78E38 youtube video play list] generated. If you want your video in there send a youtube link to the mailing list.<br />
<br />
|-<br />
|<h3>April 9th, 2012</h3><br />
|-<br />
|[[Image:Mini-Horus_Launch_in_Mada.jpg|thumb|left|Take off in Madagascar]]<br />
<br />
In March 2012, Paparazzi flew in southern Madagascar in the frame of a multi-university project to study and improve the ecosystem in one of the poorest regions of the world ([http://www.sulama.de Project]). More than 4000 hectares of farm and grassland were photographed in visible and near infrared spectra. More than 8500 photos were taken. Surely one of the biggest missions for science ever flown with Paparazzi.<br />
<br />
|-<br />
|<h3>March 7th, 2012</h3><br />
|-<br />
|[[Image:Sumo_launch.jpg|thumb|left|Take off in Antarctica]]<br />
<br />
In the Antarctic summer of 2011/2012 two teams flew Paparazzi-driven UAS on the southernmost continent. The University of Bergen flew at the Norwegian Troll station ([http://www.youtube.com/watch?v=0T9fyCNLllI video]) and the University of Colorado near the US McMurdo station ([http://dl.dropbox.com/u/53700947/Antarctic_blog/blog_20120124.htm blog], [http://alices-wonderland-adventures.blogspot.com/2012/01/uav-flights-take-2.html blog]). They measured temperature, humidity, pressure, infrared radiation and wind with a Multiplex Funjet plane.<br />
<br />
|-<br />
|<h3>December 26th, 2011</h3><br />
|-<br />
|[[Image:28C3_logo.png|thumb|left|Paparazzi at 28C3]]<br />
<br />
We had a table at the [http://events.ccc.de/congress/2011/wiki/Welcome 28C3] conference.<br />
<br />
|-<br />
|<h3>December 25th, 2011</h3><br />
|-<br />
|[[Image:Cre187-paparazzi.png|thumb|left|CRE187 - Paparazzi]]<br />
<br />
Martin Müller gave a great interview about the history and the inner workings of Paparazzi on [http://cre.fm/cre187 CRE Podcast].<br />
<br />
|-<br />
|<h3>October 5th, 2011</h3><br />
|-<br />
|[[Image:Umarim_v1-0_bottom_side.jpg|thumb|left|Umarim v1.0]]<br />
<br />
ENAC Team [http://paparazzi.enac.fr/wiki/Umarim_v10 Umarim V1.0 autopilot] is now released: LPC based, on-board IMU & barometer, narrow fuselage form factor (56x25mm) and lightweight (9gr) are its main features. Add your favorite GPS receiver and it will fit in your stupidly thin light UAV prototype. But it will also do the job for a big fat one. [http://paparazzi.enac.fr/wiki/Umarim_v10 More info here...]<br />
<br />
|-<br />
|<h3>September 18th, 2011</h3><br />
|-<br />
|[[Image:enac_imav11_1.jpg|thumb|left|IMAV 2011 Outdoor Competition ]]<br />
<br />
This year [http://www.imav2011.org/ IMAV 2011] went really well for all of the participants, we have seen lots of successful flights. ENAC Paparazzi Team took the 2nd place in general "Outdoor Challenge" and [http://paparazzi.enac.fr/wiki/Fire-Storm Fire Storm] demonstrated 105+ minutes of flight and took the "Best Outdoor Endurance Award". He was waiting this day for 2 years since the cancelation of IMAV09. <br />
As an additional information, Fire Storm flew its endurance mission with the new [http://paparazzi.enac.fr/wiki/Umarim_v10 Umarim V1.0] autopilot board which will be released soon.<br />
<br />
|-<br />
|<h3>August 31st, 2011</h3><br />
|-<br />
|[[Image:Quadshot_picture.jpg|thumb|left|The Quadshot]]<br />
<br />
Paparazzi is used in the [http://thequadshot.com Quadshot]: A blend between a quadrocopter and a flying wing. The Quadshot and Paparazzi are also featured in an [http://revision3.com/hak5/backtothestudio episode of Hak5]. You can also skip directly to the [http://www.youtube.com/watch?v=YeP7MMnP33g interview with Piotr] talking about how Paparazzi is used in the Quadshot, and briefly [http://www.youtube.com/watch?v=ANPX3UwRMnw explains the XML airframe file and the GCS].<br />
<br />
|-<br />
|<h3>February 15th, 2011</h3><br />
|-<br />
|[[Image:Finnarp.jpg|thumb|left|Paparazzi in Antarctica]]<br />
<br />
Paparazzi has flown on the southernmost continent: Antarctica. Scientists from the [http://en.ilmatieteenlaitos.fi/press-release/127535 Finnish Meteorological Institute] took three modified Funjets to the Finnish Aboa station and brought them back safely after more than 25 flights. They measured temperature, humidity, pressure, wind direction and speed in altitudes up to 1000m.<br />
<br />
|-<br />
|<h3>February 10th, 2011</h3><br />
|-<br />
|[[Image:ScreenShot.jpg|thumb|left|Paparazzi on OS X]]<br />
<br />
Paparazzi now on OS X. Thanks to the tireless efforts of Eric and Bernard we can all run [http://paparazzi.enac.fr/wiki/InstallationMacOSX Paparazzi on OS X]. Stay tuned Windows fans. Paparazzi on Windows is coming soon.<br />
<br />
|-<br />
|<h3>November 26th, 2010</h3><br />
|-<br />
|[[Image:Wingdrop.png|thumb|left|[http://www.youtube.com/watch?v=TFrognLZ2Ak wingdrop]]]<br />
<br />
There is a [http://www.youtube.com/watch?v=TFrognLZ2Ak video] available that shows how Paparazzis adaptive control loops keep a Twinstar in the air that drops 30% of its right wing with 50% of the aileron and then also switches the right engine off. Another [http://www.youtube.com/watch?v=N0H9xWckeYQ video] shows a Paparazzi quadcopter using adaptive control to stay level after dropping 50% of its total weight.<br />
<br />
|-<br />
<br />
|-<br />
|<h3>November 19th, 2010</h3><br />
|-<br />
|[[Image:Github.png|thumb|left|[[Git]]]]<br />
'''WE MOVED TO GIT!'''<br />
<br />
The paparazzi software repository now has a new happy life on github:<br />
<br />
'''https://github.com/paparazzi/paparazzi'''<br />
<br />
We believe the switch from Subversion to the fast [http://git-scm.com/ git] version control system will make development easier, faster and more fun. It also makes it easier for YOU to contribute. You can easily fork paparazzi on github, commit your bugfixes and new features and send us a pull request.<br />
<br />
More info on how to get the paparazzi code from github can be found [[Git|here]].<br />
<br />
We also want to encourage you to submit bugs or feature requests on the simple [https://github.com/paparazzi/paparazzi/issues github issue tracker].<br />
<br />
|<br />
|-<br />
<br />
<br />
|-<br />
|<h3>August, 2010</h3><br />
|-<br />
|[[Image:OrganizedCode.png|thumb|left|[[User/AirborneCodeReorg|Code Reorganization]]]]<br />
After many years of development, so many new autopilot boards and aircraft types have been added that a [http://en.wikipedia.org/wiki/Source_code sourcecode] reorganization was needed. This undertaking is started and will simplify the continuous evolution of the project.<br />
<br />
To benefit from these important changes, it only requires you to update your airframe configuration document once. After you have updated, you should not notice the significant reorganization that is going on behind the scenes. This change will benefit your aircrafts flying successfully for the years to come. The required changes are described on [[User/AirborneCodeReorg| Update Your Airframe Configuration]]. <br />
<br />
At this point several developments are blocked because of this. Therefor we kindly request you to upgrade your airframe configuration documents as soon as possible and thank you in advance for doing so.<br />
<br />
|<br />
|-<br />
<br />
<br />
|-<br />
|<h3>May 22th, 2010</h3><br />
|-<br />
|[[Image:PascalTPS.jpg|thumb|left|[[Hecto| Pascal Brisset]]]]<br />
Pascal Brisset, also known as Hecto, and the father of the Paparazzi project died in an accident while climbing in the Pyrénées mountains in the south of France.<br />
He had dedicated the last seven years of his life to the success of the project. He was taking care by himself of a huge part of the project. To name only a few : development and maintenance of the entire ground segment, navigation and flight plan algorithms, code generation and build system, distribution packaging, server infrastructure...<br />
<br />
To express your grief, you may want to [[Hecto| leave a note on his wiki page]]<br />
<br />
In respect for his commitment, the Paparazzi project must go on and volunteers wanting to take over tasks are hereby asked to do so.<br />
<br />
|<br />
|-<br />
<br />
<br />
|-<br />
<br />
|<h3>February 19th, 2010</h3><br />
|-<br />
|[[Image:Adler_c.jpg|thumb|left|[[Adler_Uni_Stuttgart| The 'Stuttgarter Adler']]]]<br />
The [http://www.irs.uni-stuttgart.de Institute of space systems] of [http://www.uni-stuttgart.de/index.en.html University of Stuttgart] is using the paparazzi system for large remote sensing aircrafts.<br> <br />
The missions include basic research and environmental monitoring. Payloads of up to 7kg are carried.<br><br><br />
More information can be found on the [[Adler_Uni_Stuttgart|Wiki page]].<br />
|<br />
|-<br />
<br />
<br />
|-<br />
<br />
<br />
|-<br />
|<h3>[[News Archives]]</h3><br />
|-<br />
| style="color:#000"|<br />
[[Image:One_Small_Step.jpg|thumb|left|[[News Archives]]]] [[News Archives|Browse the archives]] for a look back at the earlier days of Paparazzi.<br />
|-<br />
<br />
|}<br />
|}</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=File:Youtubeicon.png&diff=13255File:Youtubeicon.png2012-10-02T09:47:41Z<p>Cdewagter: </p>
<hr />
<div></div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=Main_Page&diff=13254Main Page2012-10-02T09:28:58Z<p>Cdewagter: </p>
<hr />
<div>__NOTOC__<br />
__NOEDITSECTION__<br />
<br />
{|style="border-spacing:8px;margin:0px -8px" class="MainPageBG" style="width:100%;border:1px solid #9999bf;background-color:#f5fffa;vertical-align:top;color:#000; text-align: left;"<br />
|-<br />
|align="center" colspan="2"| <h2 style="margin:0;background-color:#82add9;font-size:150%;font-weight:bold;border:0px solid #a3bfb1;text-align:center;color:#ffffff;padding:0.2em 0.4em;">Welcome To Paparazzi</h2><br />
|-valign="top"<br />
|<br />
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em;<br />
background:#cedff2;margin:-2px;padding:4px;"><br />
[[Image:favicon32.png|32px]] [[General|General]] <br />
</h3><br />
<div style="padding:6px;"><br />
{{General}}<br />
</div><br />
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em;<br />
background:#cedff2;margin:-2px;padding:4px;"><br />
[[Image:favicon32.png|32px]] [[Hardware|Hardware]] <br />
</h3><br />
<div style="padding:6px;"><br />
{{Hardware}}<br />
</div><br />
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em; <br />
background:#cedff2;margin:-2px;padding:4px;"><br />
[[Image:favicon32.png|32px]] [[Software|Software]] <br />
</h3><br />
<div style="padding:6px;"><br />
{{Software}}<br />
</div><br />
<h3 style="-moz-border-radius-topleft: 0em;-moz-border-radius-topright: 0.7em;<br />
background:#cedff2;margin:-2px;padding:4px;"><br />
[[Image:favicon32.png|32px]] [[Miscellaneous|Miscellaneous]] <br />
</h3><br />
<div style="padding:6px;"><br />
{{Miscellaneous}}<br />
</div><br />
<!-- Start of right-column --><br />
| class="MainPageBG" style="width:70%;border:1px solid #cedff2;background-color:#f5faff;vertical-align:top"|<br />
{|width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa"<br />
|-valign="top"<br />
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi Project</h2><br />
|-<br />
|style="color:#000"|'''Paparazzi''' is a free and open-source hardware and software project intended to create an exceptionally powerful and versatile autopilot system for fixedwing aircrafts as well as multicopters by allowing and encouraging input from the community. The project includes not only the airborne hardware and software, from voltage regulators and GPS receivers to [http://en.wikipedia.org/wiki/Kalman_filtering Kalman filtering] code, but also a powerful and ever-expanding array of ground hardware and software including modems, antennas, and a highly evolved user-friendly ground control software interface.<br />
|-<br />
|All hardware and software is open-source and freely available to anyone under the [http://www.gnu.org GNU] licencing agreement. [[Get_Hardware| Several vendors]] are currently producing and selling Paparazzi autopilots and popular accessories, making the system easy and affordable to all.<br />
|-<br />
|The key feature of the paparazzi autopilot is its unique combination of inertial measurement and/or infrared thermopiles for attitude sensing, providing a robust and accurate attitude estimate that requires no ground calibration and can recover from any launch attitude.<br />
|-<br />
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi project at ENAC</h2><br />
|-<br />
|The Paparazzi [http://en.wikipedia.org/wiki/Unmanned_Aircraft_System UAS] project is now being used and developed at [http://www.enac.fr/ ENAC University] and the MAVlab of the TU-Delft.<br />
|-<br />
|style="color:#000"|<br />
* [http://paparazzi.enac.fr/debian/ Debian repository] and [https://launchpad.net/~paparazzi-uav/+archive/ppa Ubuntu repository] containing some packages not in the official distribution and required to run Paparazzi.<br />
|-<br />
| <h2 style="margin:0;background-color:#ff9b00;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">Legal disclaimer</h2><br />
|-<br />
|The Paparazzi software and hardware are distributed without any guarantee, in particular they are not certified by any national or international authorities. Before flying, please refer to your country national aviation regulation for Unmanned Aerial Systems, or the one of the country you intend to overfly.<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#ebf5ff;border:1px solid #9dcef2; text-align: justify;"<br />
| <h2 style="margin:0;background-color:#6daef2;font-size:120%;font-weight:bold;border:1px solid #8fa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">Latest stable release</h2><br />
|-<br />
|<h3>v4.0.2_stable</h3><br />
|-<br />
|Download as [https://github.com/paparazzi/paparazzi/tarball/v4.0.2_stable tarball] or [https://github.com/paparazzi/paparazzi/zipball/v4.0.2_stable Zip file] or checkout the '''v4.0''' branch from [[git]].<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="2" style="vertical-align:top;background-color:#ffff;border:1px solid #9dcef2; text-align: justify;"<br />
| <br />
<br />
{|-<br />
| [[Image:mainlinglist.png|link=http://lists.gnu.org/archive/html/paparazzi-devel/|Mailinglist]] <br />
|| [[Image:twitter.png|link=https://twitter.com/paparazziuas|Twitter]] <br />
|| [[Image:blog.png|link=http://paparazziuav.org/|Blog]] <br />
|| [[Image:download.png|link=https://github.com/paparazzi/paparazzi/tags|Download]] <br />
|}<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#ebf5ff;border:1px solid #9dcef2; text-align: justify;"<br />
| <h2 style="margin:0;background-color:#9dcef2;font-size:120%;font-weight:bold;border:1px solid #8fa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">Upcoming</h2><br />
<br />
|-<br />
|<h3>September 26-27th, 2012</h3><br />
|-<br />
|<br />
<br />
ENAC will be at the [http://www.uavshow-europe.com/ UAV Show Europe] in Bordeaux, France, for flight demonstrations.<br />
<br />
|}<br />
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#faf5ff;border:1px solid #ddcef2; text-align: justify;"<br />
| <h2 style="margin:0;background-color:#ddcef2;font-size:120%;font-weight:bold;border:1px solid #afa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">News</h2><br />
<br />
|-<br />
|<h3>July 26th, 2012</h3><br />
|-<br />
|[[Image:Dc20-logo_smsq.png|thumb|left|DefCon 20]]<br />
<br />
Paparazzi was at the [https://www.defcon.org/html/defcon-20/dc-20-index.html DefCon 20] conference in Las Vegas, USA from July 26th - 29th 2012.<br />
<br />
|-<br />
|<h3>July 26th, 2012</h3><br />
|-<br />
|[[Image:penguin_logo.gif|thumb|left|Paparazzi<br>The Free Autopilot]]<br />
<br />
<span style="color:red">'''NEW RELEASE!'''</span><br />
<br />
The Paparazzi Development Team is pleased to announce the release of the '''Paparazzi v4.0 stable''' version.<br />
<br />
After several months of testing and debugging, the [[RepositoryStructure|release preparation branch v3.9]] has been released as v4.0. See the [https://github.com/paparazzi/paparazzi/blob/v4.0/CHANGELOG.md changelog] for an overview of new features and bugfixes.<br />
<br />
If you are already using paparazzi with [[Git]], you can switch to this new branch with<br />
<br />
'''<code>git remote update && git checkout v4.0</code>'''.<br />
<br />
For new user, it will be the default branch when getting the [[Installation#Getting_the_Source_Code|source code from Github]]. You can also download a [https://github.com/paparazzi/paparazzi/tarball/v4.0_stable tarball] or [https://github.com/paparazzi/paparazzi/zipball/v4.0_stable Zip file] of the <tt>v4.0_stable</tt> source code.<br />
<br />
|-<br />
|<h3>July 2-6th, 2012</h3><br />
|-<br />
|[[Image:Blender_at_IMAV2012.JPG|thumb|left|Blender: 312mm / 340g]]<br />
<br />
'''Blender''', the small but deserving quadrotor of ENAC Paparazzi Team took the 1st place in "Outdoor autonomy" and 3rd place in "Outdoor dynamics" during [http://www.imav2012.org/ IMAV2012] competition in Braunschweig (Germany). Completing its missions with overflowing enthusiasm thanks to the new [[NavGo_v3|'''NavGo''']] autopilot. NavGo is the latest in the long line of award winning Paparazzi hardware available. See the list of Paparazzi hardware [[Autopilots |here]].<br />
<br />
<br />
|-<br />
|<h3>July 6th, 2012</h3><br />
|-<br />
|[[Image:Atmos.png|thumb|left|[ATMOS|http://www.teamatmos.nl/]]]<br />
<br />
<br />
'''[http://www.teamatmos.nl/ ATMOS]''', a hybrid [http://www.teamatmos.nl/video airplane-quadrotor] developed at the MAVlab of TU-Delft, was awarded third place (out of 140) in the [http://www.uavforge.net/ UAVForge] Competition. There were more than 140 initial [http://www.uavforge.net/uavhtml/milestones.php contestants] and after several selection rounds with only 12 finalists, the paparazzi [[Lisa/M]] powered [http://www.teamatmos.nl/ ATMOS] was one of the few that could actually make it to the remote target site miles away in an RF unfriendly environment. No team fully completed the baseline objectives which is why no prices were issued. The vertical takeoff and landing, together with long range thanks to the wing and flexibility thanks to opensource paparazzi were key factors in this event [http://www.youtube.com/watch?v=81NvfLFzhqQ]. <br />
<br />
But probably more important, the development of [http://www.teamatmos.nl/ ATMOS] has added a new [https://github.com/tudelft/paparazzi/tree/atmos-master4-flyoff code-base] to paparazzi to enable the control of any hybrid [https://github.com/tudelft/paparazzi/blob/atmos-master4-flyoff/sw/airborne/firmwares/rotorcraft/force_allocation_laws.c multi-lifting] device vehicle. ATMOS can take-off vertically as a quadrotor, transition to full forward flight as an airplane but also fly in any intermediate transition stage fully autonomously. So let your imagination go loose!<br />
<br />
|-<br />
|<h3>May 9th, 2012</h3><br />
|-<br />
|[[Image:Git-Logo-2Color.png|thumb|left|[[RepositoryStructure|New git branching model]]]]<br />
<br />
'''In order to improve the development workflow and provide stable releases we have changed our git branching model.'''<br />
<br />
<span style="color:red">'''The branch "master" is now our development branch.'''</span><br />
<br />
* The "dev" branch was renamed to the release preparation branch "v3.9". Switch to this branch if you want stable code.<br />
* "master" was reset to the previous "locm3" branch, where development will happen now with libopencm3 for the STM32 architecture.<br />
<br />
Please see the [[RepositoryStructure]] page for more details.<br />
<br />
As soon as we are ready to release v4.0 the will be tarballs available if you don't want to use [[Git]].<br />
<br />
|-<br />
|<h3>May 8th, 2012</h3><br />
|-<br />
|[[Image:Youtube.png|thumb|left|[http://www.youtube.com/playlist?list=PL91197EBE66E78E38 link to youtube video collection]]]<br />
<br />
A lot of cool stuff is done with paparazzi driven UAV`s<br />
To share the world what the paparazzi community is doing a [http://www.youtube.com/playlist?list=PL91197EBE66E78E38 youtube video play list] generated. If you want your video in there send a youtube link to the mailing list.<br />
<br />
|-<br />
|<h3>April 9th, 2012</h3><br />
|-<br />
|[[Image:Mini-Horus_Launch_in_Mada.jpg|thumb|left|Take off in Madagascar]]<br />
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In March 2012, Paparazzi flew in southern Madagascar in the frame of a multi-university project to study and improve the ecosystem in one of the poorest regions of the world ([http://www.sulama.de Project]). More than 4000 hectares of farm and grassland were photographed in visible and near infrared spectra. More than 8500 photos were taken. Surely one of the biggest missions for science ever flown with Paparazzi.<br />
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|<h3>March 7th, 2012</h3><br />
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|[[Image:Sumo_launch.jpg|thumb|left|Take off in Antarctica]]<br />
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In the Antarctic summer of 2011/2012 two teams flew Paparazzi-driven UAS on the southernmost continent. The University of Bergen flew at the Norwegian Troll station ([http://www.youtube.com/watch?v=0T9fyCNLllI video]) and the University of Colorado near the US McMurdo station ([http://dl.dropbox.com/u/53700947/Antarctic_blog/blog_20120124.htm blog], [http://alices-wonderland-adventures.blogspot.com/2012/01/uav-flights-take-2.html blog]). They measured temperature, humidity, pressure, infrared radiation and wind with a Multiplex Funjet plane.<br />
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|<h3>December 26th, 2011</h3><br />
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|[[Image:28C3_logo.png|thumb|left|Paparazzi at 28C3]]<br />
<br />
We had a table at the [http://events.ccc.de/congress/2011/wiki/Welcome 28C3] conference.<br />
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|<h3>December 25th, 2011</h3><br />
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|[[Image:Cre187-paparazzi.png|thumb|left|CRE187 - Paparazzi]]<br />
<br />
Martin Müller gave a great interview about the history and the inner workings of Paparazzi on [http://cre.fm/cre187 CRE Podcast].<br />
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|<h3>October 5th, 2011</h3><br />
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|[[Image:Umarim_v1-0_bottom_side.jpg|thumb|left|Umarim v1.0]]<br />
<br />
ENAC Team [http://paparazzi.enac.fr/wiki/Umarim_v10 Umarim V1.0 autopilot] is now released: LPC based, on-board IMU & barometer, narrow fuselage form factor (56x25mm) and lightweight (9gr) are its main features. Add your favorite GPS receiver and it will fit in your stupidly thin light UAV prototype. But it will also do the job for a big fat one. [http://paparazzi.enac.fr/wiki/Umarim_v10 More info here...]<br />
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|<h3>September 18th, 2011</h3><br />
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|[[Image:enac_imav11_1.jpg|thumb|left|IMAV 2011 Outdoor Competition ]]<br />
<br />
This year [http://www.imav2011.org/ IMAV 2011] went really well for all of the participants, we have seen lots of successful flights. ENAC Paparazzi Team took the 2nd place in general "Outdoor Challenge" and [http://paparazzi.enac.fr/wiki/Fire-Storm Fire Storm] demonstrated 105+ minutes of flight and took the "Best Outdoor Endurance Award". He was waiting this day for 2 years since the cancelation of IMAV09. <br />
As an additional information, Fire Storm flew its endurance mission with the new [http://paparazzi.enac.fr/wiki/Umarim_v10 Umarim V1.0] autopilot board which will be released soon.<br />
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|<h3>August 31st, 2011</h3><br />
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|[[Image:Quadshot_picture.jpg|thumb|left|The Quadshot]]<br />
<br />
Paparazzi is used in the [http://thequadshot.com Quadshot]: A blend between a quadrocopter and a flying wing. The Quadshot and Paparazzi are also featured in an [http://revision3.com/hak5/backtothestudio episode of Hak5]. You can also skip directly to the [http://www.youtube.com/watch?v=YeP7MMnP33g interview with Piotr] talking about how Paparazzi is used in the Quadshot, and briefly [http://www.youtube.com/watch?v=ANPX3UwRMnw explains the XML airframe file and the GCS].<br />
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|<h3>February 15th, 2011</h3><br />
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|[[Image:Finnarp.jpg|thumb|left|Paparazzi in Antarctica]]<br />
<br />
Paparazzi has flown on the southernmost continent: Antarctica. Scientists from the [http://en.ilmatieteenlaitos.fi/press-release/127535 Finnish Meteorological Institute] took three modified Funjets to the Finnish Aboa station and brought them back safely after more than 25 flights. They measured temperature, humidity, pressure, wind direction and speed in altitudes up to 1000m.<br />
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|<h3>February 10th, 2011</h3><br />
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|[[Image:ScreenShot.jpg|thumb|left|Paparazzi on OS X]]<br />
<br />
Paparazzi now on OS X. Thanks to the tireless efforts of Eric and Bernard we can all run [http://paparazzi.enac.fr/wiki/InstallationMacOSX Paparazzi on OS X]. Stay tuned Windows fans. Paparazzi on Windows is coming soon.<br />
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|<h3>November 26th, 2010</h3><br />
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|[[Image:Wingdrop.png|thumb|left|[http://www.youtube.com/watch?v=TFrognLZ2Ak wingdrop]]]<br />
<br />
There is a [http://www.youtube.com/watch?v=TFrognLZ2Ak video] available that shows how Paparazzis adaptive control loops keep a Twinstar in the air that drops 30% of its right wing with 50% of the aileron and then also switches the right engine off. Another [http://www.youtube.com/watch?v=N0H9xWckeYQ video] shows a Paparazzi quadcopter using adaptive control to stay level after dropping 50% of its total weight.<br />
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|<h3>November 19th, 2010</h3><br />
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|[[Image:Github.png|thumb|left|[[Git]]]]<br />
'''WE MOVED TO GIT!'''<br />
<br />
The paparazzi software repository now has a new happy life on github:<br />
<br />
'''https://github.com/paparazzi/paparazzi'''<br />
<br />
We believe the switch from Subversion to the fast [http://git-scm.com/ git] version control system will make development easier, faster and more fun. It also makes it easier for YOU to contribute. You can easily fork paparazzi on github, commit your bugfixes and new features and send us a pull request.<br />
<br />
More info on how to get the paparazzi code from github can be found [[Git|here]].<br />
<br />
We also want to encourage you to submit bugs or feature requests on the simple [https://github.com/paparazzi/paparazzi/issues github issue tracker].<br />
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|<h3>August, 2010</h3><br />
|-<br />
|[[Image:OrganizedCode.png|thumb|left|[[User/AirborneCodeReorg|Code Reorganization]]]]<br />
After many years of development, so many new autopilot boards and aircraft types have been added that a [http://en.wikipedia.org/wiki/Source_code sourcecode] reorganization was needed. This undertaking is started and will simplify the continuous evolution of the project.<br />
<br />
To benefit from these important changes, it only requires you to update your airframe configuration document once. After you have updated, you should not notice the significant reorganization that is going on behind the scenes. This change will benefit your aircrafts flying successfully for the years to come. The required changes are described on [[User/AirborneCodeReorg| Update Your Airframe Configuration]]. <br />
<br />
At this point several developments are blocked because of this. Therefor we kindly request you to upgrade your airframe configuration documents as soon as possible and thank you in advance for doing so.<br />
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|<h3>May 22th, 2010</h3><br />
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|[[Image:PascalTPS.jpg|thumb|left|[[Hecto| Pascal Brisset]]]]<br />
Pascal Brisset, also known as Hecto, and the father of the Paparazzi project died in an accident while climbing in the Pyrénées mountains in the south of France.<br />
He had dedicated the last seven years of his life to the success of the project. He was taking care by himself of a huge part of the project. To name only a few : development and maintenance of the entire ground segment, navigation and flight plan algorithms, code generation and build system, distribution packaging, server infrastructure...<br />
<br />
To express your grief, you may want to [[Hecto| leave a note on his wiki page]]<br />
<br />
In respect for his commitment, the Paparazzi project must go on and volunteers wanting to take over tasks are hereby asked to do so.<br />
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|<h3>February 19th, 2010</h3><br />
|-<br />
|[[Image:Adler_c.jpg|thumb|left|[[Adler_Uni_Stuttgart| The 'Stuttgarter Adler']]]]<br />
The [http://www.irs.uni-stuttgart.de Institute of space systems] of [http://www.uni-stuttgart.de/index.en.html University of Stuttgart] is using the paparazzi system for large remote sensing aircrafts.<br> <br />
The missions include basic research and environmental monitoring. Payloads of up to 7kg are carried.<br><br><br />
More information can be found on the [[Adler_Uni_Stuttgart|Wiki page]].<br />
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|<h3>[[News Archives]]</h3><br />
|-<br />
| style="color:#000"|<br />
[[Image:One_Small_Step.jpg|thumb|left|[[News Archives]]]] [[News Archives|Browse the archives]] for a look back at the earlier days of Paparazzi.<br />
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|}<br />
|}</div>Cdewagterhttp://wiki.paparazziuav.org/w/index.php?title=File:Download.png&diff=13253File:Download.png2012-10-02T09:28:37Z<p>Cdewagter: </p>
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<div></div>Cdewagter