Airframe Configuration - Revision history

Openuas: /* Radio Control */

2018-09-24T13:34:36Z

Radio Control

← Older revision		Revision as of 07:34, 24 September 2018
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	* ''ppm''		* ''ppm''
	* ''spektrum''		* ''spektrum''
			* ''sbus''
	* ''datalink''		* ''datalink''

Tomvand: Mention flight plan modules section

2017-11-28T13:27:42Z

Mention flight plan modules section

← Older revision		Revision as of 07:27, 28 November 2017
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	</firmware>		</firmware>
	</source>		</source>

			Additional modules can also be added from the [[Flight Plans#Modules\|flight plan]].

	=== GCS ===		=== GCS ===

Tomvand: Fix xml examples to use module instead of subsystem. Update modules description to state that these should be placed inside the firmware tags.

2017-11-28T10:33:59Z

Fix xml examples to use module instead of subsystem. Update modules description to state that these should be placed inside the firmware tags.

← Older revision		Revision as of 04:33, 28 November 2017
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	<firmware name="fixedwing or rotorcraft">		<firmware name="fixedwing or rotorcraft">
	...		...
	<~~subsystem~~ name="imu" type="aspirin_v1.5"/>		<module name="imu" type="aspirin_v1.5"/>
	</firmware>		</firmware>
	</source>		</source>
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	<firmware name="fixedwing or rotorcraft">		<firmware name="fixedwing or rotorcraft">
	...		...
	<~~subsystem~~ name="ahrs" type="int_cmpl_euler"/>		<module name="ahrs" type="int_cmpl_euler"/>
	</firmware>		</firmware>
	</source>		</source>
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	<firmware name="fixedwing or rotorcraft">		<firmware name="fixedwing or rotorcraft">
	...		...
	<~~subsystem~~ name="radio_control" type="ppm"/>		<module name="radio_control" type="ppm"/>
	</firmware>		</firmware>
	</source>		</source>
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	<firmware name="fixedwing or rotorcraft">		<firmware name="fixedwing or rotorcraft">
	...		...
	<~~subsystem~~ name="telemetry" type="transparent"/>		<module name="telemetry" type="transparent"/>
	</firmware>		</firmware>
	</source>		</source>
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	<firmware name="fixedwing or rotorcraft">		<firmware name="fixedwing or rotorcraft">
	...		...
	<~~subsystem~~ name="gps" type="ublox"/>		<module name="gps" type="ublox"/>
	</firmware>		</firmware>
	</source>		</source>
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	\| Since '''v5.8''' it is possible to safely replace ''subsystem'' by ''module'' in your airframe file. It is therefore also possible to use the modules the same way subsystems used to be (i.e. as children of the ''firmware'' node and not only the ''modules'' node as presented above. The roadmap of Paparazzi is to convert existing subsystems to [[modules]].		\| Since '''v5.8''' it is possible to safely replace ''subsystem'' by ''module'' in your airframe file. It is therefore also possible to use the modules the same way subsystems used to be (i.e. as children of the ''firmware'' node and not only the ''modules'' node as presented above. The roadmap of Paparazzi is to convert existing subsystems to [[modules]].
	\|}		\|}

			{\| class="wikitable"
			\|-
			\| Starting from '''v5.12''' the ''modules'' element will gradually be phased out. Instead, the modules should be added inside the ''firmware'' tags of the airframe file:
			\|}
			<source lang="xml>
			<firmware name="fixedwing or rotorcraft">
			...
			<module name="demo_module"/>
			</firmware>
			</source>

	=== GCS ===		=== GCS ===

Flixr: /* Board targets */ ardrone2_sdk has been removed with https://github.com/paparazzi/paparazzi/pull/1222

2016-03-14T22:23:43Z

Board targets: ardrone2_sdk has been removed with https://github.com/paparazzi/paparazzi/pull/1222

← Older revision		Revision as of 16:23, 14 March 2016
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	"apogee_0.99",		"apogee_0.99",
	"apogee_1.0",		"apogee_1.0",
	"~~ardrone2_raw",~~		"ardrone2",
	~~"ardrone2_sdk~~",
	"booz_1.0",		"booz_1.0",
	"classix",		"classix",

Ghattenb: /* Modules */

2016-02-16T17:32:27Z

Modules

← Older revision		Revision as of 11:32, 16 February 2016
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	* The main_freq parameter (in Hz) allows to specify the frequency of the main loop. Default is 60 Hz		* The main_freq parameter (in Hz) allows to specify the frequency of the main loop. Default is 60 Hz

			{\| class="wikitable"
			\|-
			\| Since '''v5.8''' it is possible to safely replace ''subsystem'' by ''module'' in your airframe file. It is therefore also possible to use the modules the same way subsystems used to be (i.e. as children of the ''firmware'' node and not only the ''modules'' node as presented above. The roadmap of Paparazzi is to convert existing subsystems to [[modules]].
			\|}

	=== GCS ===		=== GCS ===

Ghattenb at 17:29, 16 February 2016

2016-02-16T17:29:11Z

← Older revision		Revision as of 11:29, 16 February 2016
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	== Subsystems ==		== Subsystems ==
			{\| class="wikitable"
			\|-
			\| Since '''v5.8''' it is possible to safely replace ''subsystem'' by ''module'' in your airframe file. The roadmap of Paparazzi is to convert existing subsystems to [[modules]].
			\|}
	Each autopilot features certain [[Subsystems\|subsystems]] which need to be configured properly.		Each autopilot features certain [[Subsystems\|subsystems]] which need to be configured properly.
	The most important ones are described below.		The most important ones are described below.

IHaveADrone: minor spelling

2016-01-15T15:16:25Z

minor spelling

← Older revision		Revision as of 09:16, 15 January 2016
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	You can configure the LEDs on the autopilot to be used for different status indicators:		You can configure the LEDs on the autopilot to be used for different status indicators:
	; ''SYS_TIME_LED'': blinks with 1Hz		; ''SYS_TIME_LED'': blinks with 1Hz
	; ''AHRS_ALIGNER_LED'': blinks until the AHRS is aligned (gyro bias ~~initilalized~~) and then stays on		; ''AHRS_ALIGNER_LED'': blinks until the AHRS is aligned (gyro bias initialized) and then stays on
	; ''GPS_LED'': blinking if trying to get a fix, on if 3D fix		; ''GPS_LED'': blinking if trying to get a fix, on if 3D fix
	; ''RADIO_CONTROL_LED'': on if RC signal is ok		; ''RADIO_CONTROL_LED'': on if RC signal is ok
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	<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).		<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).

	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.		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 described above for <b><tt>MILLIAMP_AT_FULL_THROTTLE</tt></b>, but only partial throttle (cruise throttle) should be applied in flight.

	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]].		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 independent of your flight pattern without even requiring a [[Current_sensor\|current sensor]].

	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.		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.

Ranwei693532: in the conf.xml file, there is settings_modules options

2016-01-14T03:30:40Z

in the conf.xml file, there is settings_modules options

← Older revision		Revision as of 21:30, 13 January 2016
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	* [[Radio_Control\|Radio]] (if you use a PPM based R/C system)		* [[Radio_Control\|Radio]] (if you use a PPM based R/C system)
	* [[Telemetry]]		* [[Telemetry]]
			* [[settings_modules]]
	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>]]).		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>]]).

Earthpatrol: /* GCS */

2015-06-03T04:51:58Z

GCS

← Older revision		Revision as of 22:51, 2 June 2015
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	=== GCS ===		=== GCS ===

			[[Image:ac_icon_multi_uav.png\|thumb\|Various A/C icons demonstrated on a multi UAV simulation session]]

			[[Image:Icons_Theme_Default.png\|thumb\|Default Theme]]

			[[Image:Icons_Theme_Flat.png\|thumb\|Flat Theme]]

	Use this <b>optional</b> section to help customize parts of the GCS for a specific airframe:		Use this <b>optional</b> section to help customize parts of the GCS for a specific airframe:
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	</source>		</source>
	}}		}}

	~~[[Image:ac_icon_multi_uav.png\|thumb\|Various A/C icons demonstrated on a multi UAV simulation session]]~~

	~~[[Image:Icons_Theme_Default.png\|thumb\|Default Theme]]~~

	~~[[Image:Icons_Theme_Flat.png\|thumb\|Flat Theme]]~~

	* <tt>ICONS_THEME</tt> can be used to define an alternate/custom GCS icons theme for a given aircraft The '''flat_theme''' is one example of an alternate set of GCS icons.		* <tt>ICONS_THEME</tt> can be used to define an alternate/custom GCS icons theme for a given aircraft The '''flat_theme''' is one example of an alternate set of GCS icons.

Earthpatrol: /* Custom Icons Theme Support */

2015-06-03T04:47:01Z

Custom Icons Theme Support

← Older revision		Revision as of 22:47, 2 June 2015
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	A custom icons theme is supported through the use of the '''ICONS_THEME''' attribute. Set the '''ICONS_THEME''' attribute ''value'' to the path of your custom icons theme directory and the given aircraft will now display your custom icons. Note that the path is relative to the default GCS icons path root: ''$PAPARAZZI_HOME/data/pictures/gcs_icons''		A custom icons theme is supported through the use of the '''ICONS_THEME''' attribute. Set the '''ICONS_THEME''' attribute ''value'' to the path of your custom icons theme directory and the given aircraft will now display your custom icons. Note that the path is relative to the default GCS icons path root: ''$PAPARAZZI_HOME/data/pictures/gcs_icons''

	{{Box Code\|<code snippet>\|		{{Box Code\|code snippet\|
	<source lang="xml">		<source lang="xml">
	<section name="GCS">		<section name="GCS">