NPS - Revision history

Ghattenb: /* Running the Simulation */

2017-04-11T22:38:07Z

Running the Simulation

← Older revision		Revision as of 16:38, 11 April 2017
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	restart your simulator with the ''--fg_host'' option:		restart your simulator with the ''--fg_host'' option:
	<source lang="bash">sw/simulator/pprzsim-launch --aircraft Quad_LisaM_2 --type nps --fg_host 127.0.0.1</source>		<source lang="bash">sw/simulator/pprzsim-launch --aircraft Quad_LisaM_2 --type nps --fg_host 127.0.0.1</source>

			=== Visualization in [[Morse]] ===
			The Morse simulator can be used to make simulated (or real) rotorcraft fly inside a virtual environment where simulated sensors such as camera or laser scanners can be added and provide measurements.

	=== Troubleshooting ===		=== Troubleshooting ===

Lethargi: /* Running the Simulation */ Added a line linking about setting up environment variables before trying to run from terminal

2017-04-04T18:04:59Z

Running the Simulation: Added a line linking about setting up environment variables before trying to run from terminal

← Older revision		Revision as of 12:04, 4 April 2017
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	Just select e.g. the Quad_LisaM_2 example airframe and start the ''Simulation'' session with the simulator, GCS and server.		Just select e.g. the Quad_LisaM_2 example airframe and start the ''Simulation'' session with the simulator, GCS and server.

	~~You~~ can also start it via the generic simulation launcher:		If you have added PAPARAZZI_HOME AND PAPARAZZI_SRC to the environmental variables of your terminal (See [[Installation#Environment_Variables\|Setting up environment variables]]), you can also start it via the generic simulation launcher:
	<source lang="bash">sw/simulator/pprzsim-launch --aircraft Quad_LisaM_2 --type nps</source>		<source lang="bash">sw/simulator/pprzsim-launch --aircraft Quad_LisaM_2 --type nps</source>

Flixr: Link to generated docs for NPS_JS_* joystick mappings

2016-02-20T19:04:22Z

Link to generated docs for NPS_JS_* joystick mappings

← Older revision		Revision as of 13:04, 20 February 2016
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	* NPS_JSBSIM_INIT: the xml file containing the initial conditions (location, attitude, wind) for JSBSim in ''conf/simulator/jsbsim/aircraft/'' (e.g. [https://github.com/paparazzi/paparazzi/blob/master/conf/simulator/jsbsim/aircraft/reset00.xml reset00])<br>This define is optional and if not specified the initial position of the aircraft will be set to the flight plan location. Prior to v5.1 this was called INITIAL_CONDITITONS.		* NPS_JSBSIM_INIT: the xml file containing the initial conditions (location, attitude, wind) for JSBSim in ''conf/simulator/jsbsim/aircraft/'' (e.g. [https://github.com/paparazzi/paparazzi/blob/master/conf/simulator/jsbsim/aircraft/reset00.xml reset00])<br>This define is optional and if not specified the initial position of the aircraft will be set to the flight plan location. Prior to v5.1 this was called INITIAL_CONDITITONS.
	* NPS_JSBSIM_LAUNCHSPEED: if defined this sets an initial launchspeed in m/s for fixedwings, available since v5.1.0_testing-54-g2ac094f		* NPS_JSBSIM_LAUNCHSPEED: if defined this sets an initial launchspeed in m/s for fixedwings, available since v5.1.0_testing-54-g2ac094f
			* NPS_JS_*: Joystick mappings, see [http://docs.paparazziuav.org/latest/nps__radio__control__joystick_8c.html]
	Then build the nps target...		Then build the nps target...

Flixr: /* Usage */

2016-02-20T18:55:10Z

Usage

← Older revision		Revision as of 12:55, 20 February 2016
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	You can also take a look at the example airframe [https://github.com/paparazzi/paparazzi/blob/master/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml] or use it for your first tests.		You can also take a look at the example airframe [https://github.com/paparazzi/paparazzi/blob/master/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml] or use it for your first tests.

	E.g for a fixedwing like ~~the~~ Bixler:		E.g for a fixedwing like a Bixler,Easystar, etc:
	{{Box Code\|conf/airframes/myaircraft.xml\|		{{Box Code\|conf/airframes/myaircraft.xml\|
	<source lang="xml">		<source lang="xml">

Flixr: update a bit for fixedwing usage

2016-02-20T18:54:25Z

update a bit for fixedwing usage

← Older revision		Revision as of 12:54, 20 February 2016
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	== Usage ==		== Usage ==

	See [[Installation\|installation of Paparazzi]], [[JSBSim]] and optionally [[FlightGear]].		See [[Installation\|installation of Paparazzi]], [[JSBSim]] and optionally [[FlightGear]] (for visualization).

	=== Configuration/Build ===		=== Configuration/Build ===
	Add the '''nps''' target to your [[~~Rotorcraft Configuration~~\|airframe]] with the fdm you want to use:		Add the '''nps''' target to your [[Airframe_Configuration\|airframe]] with the fdm you want to use:
	{{Box Code\|conf/airframes/~~myplane~~.xml\|		{{Box Code\|conf/airframes/myaircraft.xml\|
	<source lang="xml">		<source lang="xml">
	<firmware name="rotorcraft">		<firmware name="rotorcraft or fixedwing">
	<target name="nps" board="pc">		<target name="nps" board="pc">
	<subsystem name="fdm" type="jsbsim"/>		<subsystem name="fdm" type="jsbsim"/>
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	...		...
	</firmware>		</firmware>
			</source>
			}}
			then depending on the aircraft you want to simulate add a NPS simulator section which defines the model, actuators and sensor parameters used:

			E.g for a simple quadrotor:
			{{Box Code\|conf/airframes/myaircraft.xml\|
			<source lang="xml">
	<section name="SIMULATOR" prefix="NPS_">		<section name="SIMULATOR" prefix="NPS_">
	<define name="ACTUATOR_NAMES" value="front_motor, right_motor, back_motor, left_motor" type="string[]"/>		<define name="ACTUATOR_NAMES" value="front_motor, right_motor, back_motor, left_motor" type="string[]"/>
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	</source>		</source>
	}}		}}
	You can also take a look at the example airframe ''conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml'' or use it for your first tests.		You can also take a look at the example airframe [https://github.com/paparazzi/paparazzi/blob/master/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml] or use it for your first tests.

	~~The xml file with~~ the ~~JSBSim model of the aircraft is located in ''~~conf/~~simulator~~/~~jsbsim/aircraft/''~~		E.g for a fixedwing like the Bixler:
	~~and needs to have the~~ name ~~of the aircraft postfixed with ''.xml''~~		{{Box Code\|conf/airframes/myaircraft.xml\|
	~~(e.g. [https:~~//~~github~~.~~com~~/~~paparazzi~~/~~paparazzi~~/~~blob/master/conf/simulator/jsbsim/aircraft/Quad_LisaM_2.xml conf/simulator/jsbsim/aircraft/Quad_LisaM_2.xml])~~		<source lang="xml">
			<section name="SIMULATOR" prefix="NPS_">
			<define name="JSBSIM_LAUNCHSPEED" value="15"/>
			<define name="JSBSIM_MODEL" value="easystar" type="string"/>
			<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
			</section>
			</source>
			}}

	* NPS_ACTUATOR_NAMES: mapping of the motors defined in the [[Rotorcraft_Configuration#Motor_Mixing\|MOTOR_MIXING section]] to the actuators in the JSBSim model (the order is important, also make sure that your motors in JSBSim spin in the same direction as your real ones)		* NPS_ACTUATOR_NAMES: mapping of the motors defined in the [[Rotorcraft_Configuration#Motor_Mixing\|MOTOR_MIXING section]] to the actuators in the JSBSim model (the order is important, also make sure that your motors in JSBSim spin in the same direction as your real ones)

Flixr: reword/correct introduction

2016-02-20T18:16:36Z

reword/correct introduction

← Older revision		Revision as of 12:16, 20 February 2016
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	~~''Italic text''~~<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Simulation</categorytree>		<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Simulation</categorytree>
	__TOC__		__TOC__

	== Introduction ==		== Introduction ==

	NPS ('''N'''ew '''P'''aparazzi '''S'''imulator) is ~~the new~~ more advanced simulator with sensor models and can use different FDM ~~backend~~. By default [[JSBSim]] is used as FDM (FlightDynamicModel) backend, this allow fairly complex airframes.		NPS ('''N'''ew '''P'''aparazzi '''S'''imulator) is a more advanced simulator with sensor models and can use different FDM backends. By default [[JSBSim]] is used as FDM (FlightDynamicModel) backend, this allow fairly complex airframes.
	JSBSim can be replaced by the FDM of your choice, e.g. YASim or a interconnection with MATLAB simulink		JSBSim can be replaced by the FDM of your choice, e.g. YASim or a interconnection with MATLAB simulink

	~~Fixedwing support can also be added~~ if ~~you have~~ a ~~need beyond~~ the ~~build in classic Paparazzi Simulator~~.		NPS is capable of simulating rotorcraft and fixedwing airframes, with the possibility to add more complex aircrafts/hybrids if a proper model is built using one of the FDM backends.

	== Usage ==		== Usage ==

IKenshinI: spelling

2016-02-09T17:09:01Z

spelling

← Older revision		Revision as of 11:09, 9 February 2016
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	JSBSim can be replaced by the FDM of your choice, e.g. YASim or a interconnection with MATLAB simulink		JSBSim can be replaced by the FDM of your choice, e.g. YASim or a interconnection with MATLAB simulink

	Fixedwing support can also be added if you have a need ~~beond~~ the build in classic Paparazzi Simulator.		Fixedwing support can also be added if you have a need beyond the build in classic Paparazzi Simulator.

	== Usage ==		== Usage ==

Flixr: /* Configuration/Build */ update NPS section to latest good practice

2015-12-10T20:53:21Z

Configuration/Build: update NPS section to latest good practice

← Older revision		Revision as of 14:53, 10 December 2015
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	<section name="SIMULATOR" prefix="NPS_">		<section name="SIMULATOR" prefix="NPS_">
	<define name="ACTUATOR_NAMES" value="~~{"~~front_motor~~"~~, ~~"~~back_motor~~"~~, ~~"right_motor", "~~left_motor~~"}~~"/>		<define name="ACTUATOR_NAMES" value="front_motor, right_motor, back_motor, left_motor" type="string[]"/>
	~~<define name~~="~~SENSORS_PARAMS" value=""nps_sensors_params_default.h"~~"/>		<define name="JSBSIM_MODEL" value="simple_quad" type="string"/>
	<define name="JSBSIM_MODEL" value="~~"~~simple_quad~~"~~"/>		<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
	<define name="~~JSBSIM_INIT~~" value="~~"reset00""/>~~
	~~<define name="JSBSIM_LAUNCHSPEED~~" ~~value~~="20"/>
	</section>		</section>
	</source>		</source>

Openuas at 17:55, 10 December 2015

2015-12-10T17:55:16Z

← Older revision		Revision as of 11:55, 10 December 2015
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	JSBSim can be replaced by the FDM of your choice, e.g. YASim or a interconnection with MATLAB simulink		JSBSim can be replaced by the FDM of your choice, e.g. YASim or a interconnection with MATLAB simulink

	Fixedwing support can also be ~~easily~~ added ~~as soon as someone actually wants to use it ;-)~~		Fixedwing support can also be added if you have a need beond the build in classic Paparazzi Simulator.

	== Usage ==		== Usage ==

Openuas at 17:53, 10 December 2015

2015-12-10T17:53:57Z

← Older revision		Revision as of 11:53, 10 December 2015
Line 1:		Line 1:
	<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Simulation</categorytree>		''Italic text''<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Simulation</categorytree>
	__TOC__		__TOC__

	NPS (~~New Paparazzi Simulator~~) is the new more advanced simulator with sensor models and can use different FDM backend. By default [[JSBSim]] is used as FDM (FlightDynamicModel) backend, this allow fairly complex airframes.		== Introduction ==

			NPS ('''N'''ew '''P'''aparazzi '''S'''imulator) is the new more advanced simulator with sensor models and can use different FDM backend. By default [[JSBSim]] is used as FDM (FlightDynamicModel) backend, this allow fairly complex airframes.
	JSBSim can be replaced by the FDM of your choice, e.g. YASim or a interconnection with MATLAB simulink		JSBSim can be replaced by the FDM of your choice, e.g. YASim or a interconnection with MATLAB simulink

	Fixedwing support can also be easily added as soon as someone actually wants to use it ;-)		Fixedwing support can also be easily added as soon as someone actually wants to use it ;-)

	== ~~Installation~~ ==		== Usage ==

	See [[Installation\|installation of Paparazzi]], [[JSBSim]] and optionally [[FlightGear]].		See [[Installation\|installation of Paparazzi]], [[JSBSim]] and optionally [[FlightGear]].
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	== Running the Simulation ==		== Running the Simulation ==

	The most convenient way to start the simulation is via the ''Simulation'' session from the [[Paparazzi Center]].		The most convenient way to start the simulation is via the ''Simulation'' session from the [[Paparazzi Center]].
	Just select e.g. the Quad_LisaM_2 example airframe and start the ''Simulation'' session with the simulator, GCS and server.		Just select e.g. the Quad_LisaM_2 example airframe and start the ''Simulation'' session with the simulator, GCS and server.