RT Paparazzi - Revision history

IHaveADrone: spelling

2016-06-27T14:45:23Z

spelling

← Older revision		Revision as of 08:45, 27 June 2016
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	== Introduction ==		== Introduction ==

	the '''RT Paparazzi''' initiative is a step towards extended flexibility for the core autopilot. In a real time operating system (RTOS) [http://en.wikipedia.org/wiki/Real-time_operating_system] multiple threads are available, which are doing specific jobs e.g. a telemetry thread, a radio thread, a failsafe thread, at a defined rate. Unlike ''bare-metal'' application which uses interrupt driven timers for timing tasks, real time OS has a kernel which takes care of scheduling and running the threads. Having a kernel, it is possible to set priority of each thread, how much memory it takes etc.etc. which gives the developer more control over timing and resource ~~managment~~.		the '''RT Paparazzi''' initiative is a step towards extended flexibility for the core autopilot. In a real time operating system (RTOS) [http://en.wikipedia.org/wiki/Real-time_operating_system] multiple threads are available, which are doing specific jobs e.g. a telemetry thread, a radio thread, a failsafe thread, at a defined rate. Unlike ''bare-metal'' application which uses interrupt driven timers for timing tasks, real time OS has a kernel which takes care of scheduling and running the threads. Having a kernel, it is possible to set priority of each thread, how much memory it takes etc.etc. which gives the developer more control over timing and resource management.

	Besides kernel, a typical RTOS also has a ~~harware~~ abstraction layer (HAL) which stands between user application and actual hardware, so the core autopilot developer doesn't have to worry to much about writing drivers for the sensor to use.		Besides kernel, a typical RTOS also has a hardware abstraction layer (HAL) which stands between user application and actual hardware, so the core autopilot developer doesn't have to worry to much about writing drivers for the sensor to use.

	One of the strengths of Paparazzi is it's modularity - combining this with precise timing, scheduling and resource management a RTOS brings along, Paparazzi is now in a position to exceed even the leading ~~commecial~~ closed-source UAs autopilots.		One of the strengths of Paparazzi is it's modularity - combining this with precise timing, scheduling and resource management a RTOS brings along, Paparazzi is now in a position to exceed even the leading commercial closed-source UAs autopilots.

	= Paparazzi with ChibiOS/RT =		= Paparazzi with ChibiOS/RT =

Podhrmic at 19:43, 15 June 2016

2016-06-15T19:43:35Z

← Older revision		Revision as of 13:43, 15 June 2016
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	= Compiling Paparazzi code in Eclipse =		= Compiling Paparazzi code in Eclipse =
	Typical process consists of compiling the autopilot code for given airframe in Paparazzi center, and then running the related debug configuration in Eclipse. The debugger will first recompile whole Paparazzi (e.g. running "make" in Paparazzi home directory), which is not really useful, but bearable.		Moved to [[DevGuide/CodeEditors#Eclipse_2\|DevGuide/CodeEditors]]

	~~In case we want~~ to ~~work with a single aircraft and want Eclipse to also compile the autopilot code, we have to do the following:~~
	~~# Import paparazzi into eclipse as normal~~
	~~# in project->properties->c~~/~~c++->environment add three variables~~
	#~~# Current_Airframe: set to the name of the airframe you want to build~~
	~~## PAPARAZZI_HOME: set to the root paparazzi directory~~
	~~## PAPARAZZI_SRC: set to the root paparazzi directory~~
	~~# in project->properties->c~~/~~c++~~
	~~## in ''Builder Settings'' Tab~~
	~~### Uncheck ''Use default build command''~~
	~~### in build command put: ''make -f Makefile.ac AIRCRAFT=${Current_Airframe}''~~
	~~## In Behavior Tab~~
	~~### set the Build field to: ap.compile~~
	~~### set the Clean field to:clean_ac~~

	That will compile ''Current_Aiframe'' with target ''ac''. Obviously, if you need a different target, for example ''test_telemetry'', you will have to change the last two steps to ''test_telemetry.compile'' and so on.

Podhrmic: rt pprz edit

2016-06-15T17:38:51Z

rt pprz edit

← Older revision		Revision as of 11:38, 15 June 2016
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	== Getting the sourcecode ==		== Getting the sourcecode ==

	~~Most recent~~ code is available ~~under ''rt_paparazzi~~'' ~~branch from Paparazzi Git repo~~ [https://github.com/paparazzi/paparazzi], ~~however you can check these two repositories too (~~[https://github.com/~~podhrmic/ChibiOS-RT~~] ~~and [https://github~~.~~com/podhrmic/paparazzi])~~		First version of functional RT paparazzi code (which comes with other perks such as SD card logging) is already available in the ''[https://github.com/paparazzi/paparazzi master]'' branch, thanks to [https://github.com/gautierhattenberger gautierhattenberger]. The code is continually improving, so stay tuned.


	== Debugging with an Eclipse IDE ==		== Debugging with an Eclipse IDE ==
			'''NOTE: As of June 2016 and ChibiOS 3.0+ SWD debugging with Black Magic Probe doesn't work under Eclipse (you get segmentation faults). The debugging works normally in terminal (arm-none-eabi-gdb), but I suspect there is some bug in how Eclipse is handling the debugging commands. Older versions of Eclipse (before Mars 2.0) and ChibiOS 2.6 work together perfectly.'''

	Having a good development and debugging environment is a must for developing RT embedded system. The steps of setting up Eclipse IDE are described here [http://wiki.chibios.org/dokuwiki/doku.php?id=chibios:guides:eclipse1] and here [http://wiki.chibios.org/dokuwiki/doku.php?id=chibios:guides:eclipse2].		Having a good development and debugging environment is a must for developing RT embedded system. The steps of setting up Eclipse IDE are described here [http://wiki.chibios.org/dokuwiki/doku.php?id=chibios:guides:eclipse1] and here [http://wiki.chibios.org/dokuwiki/doku.php?id=chibios:guides:eclipse2].
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	=== ChibiOS Eclipse plugin ===		=== ChibiOS Eclipse plugin ===

	~~A nice and comprehensive guide about how~~ to ~~install ChibiOS plugins is~~ [http://~~cxkg~~.~~net~~/~~chibios-board-generator~~/ ~~here~~].		ChibiStudio plugin is officially supported for Windows only (write to the [http://www.chibios.com/forum/ ChibiOS forum] if you would like Linux support too), but since it is in Java it works under Linux too. If you want to test it yourself, here is the HOWTO:

	~~In case~~ the ~~page is not available, here is an older manual~~:		* Get the latest eclipse (Version: Mars.2 Release (4.5.2))
	* ~~to use ChibiOS~~/~~RT debug module for Eclipse, download ChibiStudio~~ (~~it is for Windows only~~) from ~~SourceForge~~ [~~http~~://sourceforge.net/projects/chibios/files/ChibiStudio/], extract it and from ''ChibiStudio/eclipse/plugins'' ~~copy~~		* Install C/C++ Hardware Debugging as described [[wiki.chibios.org/dokuwiki/doku.php?id=chibios:guides:eclipse1#eclipse\|here]]
	org.chibios.tools.eclipse.config_1.2.1.jar		* Make sure you have gcc-arm-none-eabi installed (v.4.9)
	org.chibios.tools.eclipse.~~debug_1~~.0.8.jar		* Download latest ChibiStudi (preview 17) from [https://sourceforge.net/projects/chibios/files/ChibiStudio/ here] extract it and from ''ChibiStudio/eclipse/plugins'' Copy these libraries into your Eclipse/plugins directory:
	~~to your ''~~eclipse~~/plugins'' directory~~. Restart Eclipse ~~and in "~~Help~~->About Eclipe~~->Installation Details->Plugins~~" you should see both chibios plugins.~~ Enable the plug-in while in the "Debug" view under: Window->Show View->Other...->ChibiOS/RT->ChibiOS/RT" (see [http://forum.chibios.org/phpbb/viewtopic.php?f=3&t=140] for details)		org.chibios.chibistudio.branding_1.0.0.jar
			org.chibios.tools.eclipse.config_1.9.1.201603121101.jar
			org.chibios.tools.eclipse.debug.chibiosrt2_1.2.0.201603121101.jar
			org.chibios.tools.eclipse.debug.chibiosrt3_1.0.1.201603121101.jar
			org.chibios.tools.eclipse.debug.chibiosrt4_1.0.0.201603121101.jar
			* Restart Eclipse - now you will see the ChibiOs plugings under ''Help->Installation Details->Plugins''
			* Enable the plug-in while in the "Debug" view under: Window->Show View->Other...->ChibiOS/RT->ChibiOS/RT" (see [http://forum.chibios.org/phpbb/viewtopic.php?f=3&t=140] for details)

			Now you can use ChibiStudio plugin to view your threads memory usage, available stack, trace buffer etc. depending on the debugging options you enabled.

	=== ChibiOS Tutorials ===		=== ChibiOS Tutorials ===
	Related videos about setting up Eclipse with ChibiOS plugins (called together ChibiStudio) are available [https://www.youtube.com/playlist?list=PLpDawCIUjDFFXjRFUT9tFcUuuvNb6iT1A here]		Related videos about setting up Eclipse with ChibiOS plugins (called together ChibiStudio) are available [https://www.youtube.com/playlist?list=PLpDawCIUjDFFXjRFUT9tFcUuuvNb6iT1A here]

	== Compiling Paparazzi code in Eclipse ==		= Compiling Paparazzi code in Eclipse =
	Typical process consists of compiling the autopilot code for given airframe in Paparazzi center, and then running the related debug configuration in Eclipse. The debugger will first recompile whole Paparazzi (e.g. running "make" in Paparazzi home directory), which is not really useful, but bearable.		Typical process consists of compiling the autopilot code for given airframe in Paparazzi center, and then running the related debug configuration in Eclipse. The debugger will first recompile whole Paparazzi (e.g. running "make" in Paparazzi home directory), which is not really useful, but bearable.

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	That will compile ''Current_Aiframe'' with target ''ac''. Obviously, if you need a different target, for example ''test_telemetry'', you will have to change the last two steps to ''test_telemetry.compile'' and so on.		That will compile ''Current_Aiframe'' with target ''ac''. Obviously, if you need a different target, for example ''test_telemetry'', you will have to change the last two steps to ''test_telemetry.compile'' and so on.

	~~= Paparazzi on Linux =~~

	~~Taking the ARDrone 2 base install is a good example how Paparazzi could be used to run the core Autopilot executable~~

	~~= RT Paparazzi at ENAC =~~

	~~There is an internal project at ENAC of a RT Paparazzi~~

Podhrmic: added link to ICUAS2016 code

2016-06-10T16:57:56Z

added link to ICUAS2016 code

← Older revision		Revision as of 10:57, 10 June 2016
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	= Real Time (RT) Paparazzi =		= Real Time (RT) Paparazzi =
			== ICUAS 2016 An Open-Source Real-Time UAS Flight Control Prototyping and Testing Platform with Fractional-Order Horizontal Controller Example ==
			The code is available [https://github.com/AggieAir/pprz-icuas2016 here]

	== Introduction ==		== Introduction ==

Podhrmic at 22:56, 6 July 2015

2015-07-06T22:56:16Z

← Older revision		Revision as of 16:56, 6 July 2015
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	== Debugging with an Eclipse IDE ==		== Debugging with an Eclipse IDE ==

	Having a good development and debugging environment is a must for developing RT embedded system. The steps of setting up Eclipse IDE are described here [http://chibios.org/dokuwiki/doku.php?id=chibios:guides:eclipse1] and here [http://chibios.org/dokuwiki/doku.php?id=chibios:guides:eclipse2].		Having a good development and debugging environment is a must for developing RT embedded system. The steps of setting up Eclipse IDE are described here [http://wiki.chibios.org/dokuwiki/doku.php?id=chibios:guides:eclipse1] and here [http://wiki.chibios.org/dokuwiki/doku.php?id=chibios:guides:eclipse2].

	An alternative guide is for example here [http://embeddedprogrammer.blogspot.com/2012/09/stm32f4discovery-development-with-gcc.html]		An alternative guide is for example here [http://embeddedprogrammer.blogspot.com/2012/09/stm32f4discovery-development-with-gcc.html]

Flixr: remove incorrect nuttx paragraph

2015-04-30T11:57:10Z

remove incorrect nuttx paragraph

← Older revision		Revision as of 05:57, 30 April 2015
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	There is an internal project at ENAC of a RT Paparazzi		There is an internal project at ENAC of a RT Paparazzi

	~~= RT Paparazzi on Nuttix =~~

	There are all reasons to assume the current Paparazzi code can run perfectly on Nuttix, only nobody so far bother to start this effort since the general consensus at the moment is that CHibeOS is a better choice for an RT operationg system

NeoFromMatrix at 17:05, 8 April 2015

2015-04-08T17:05:57Z

← Older revision		Revision as of 11:05, 8 April 2015
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	== Getting the sourcecode ==		== Getting the sourcecode ==

	Most recent code is available under ''rt_paparazzi'' branch from Paparazzi Git repo [https://github.com/paparazzi/paparazzi], however you can check these two repositories too ([https://github.com/podhrmic/ChibiOS-RT] and [https://github.com/podhrmic/paparazzi])		Most recent code is available under ''rt_paparazzi'' branch from Paparazzi Git repo [https://github.com/paparazzi/paparazzi], however you can check these two repositories too ([https://github.com/podhrmic/ChibiOS-RT] and [https://github.com/podhrmic/paparazzi])


	== Debugging with an Eclipse IDE ==		== Debugging with an Eclipse IDE ==

	Having a good development and debugging environment is a must for developing RT embedded system. The steps of setting up Eclipse IDE are described here [http://chibios.org/dokuwiki/doku.php?id=chibios:guides:eclipse1] and here [http://chibios.org/dokuwiki/doku.php?id=chibios:guides:eclipse2].		Having a good development and debugging environment is a must for developing RT embedded system. The steps of setting up Eclipse IDE are described here [http://chibios.org/dokuwiki/doku.php?id=chibios:guides:eclipse1] and here [http://chibios.org/dokuwiki/doku.php?id=chibios:guides:eclipse2].

	An alternative guide is for example here [http://embeddedprogrammer.blogspot.com/2012/09/stm32f4discovery-development-with-gcc.html]		An alternative guide is for example here [http://embeddedprogrammer.blogspot.com/2012/09/stm32f4discovery-development-with-gcc.html]

			Another great tutorial for setting up Eclipse is done by [http://docs.armstrap.org/en/latest/getting-started-eclipse-development-tools.html\| armstrap].<br/>
			With blacmagic probe integration, without Eclipse Arm Plugin.

	Just a few notes to the process:		Just a few notes to the process:
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	=== ChibiOS Eclipse plugin ===		=== ChibiOS Eclipse plugin ===

	A nice and comprehensive guide about how to install ChibiOS plugins is [http://cxkg.net/chibios-board-generator/ here].		A nice and comprehensive guide about how to install ChibiOS plugins is [http://cxkg.net/chibios-board-generator/ here].

Podhrmic: /* Debugging with an Eclipse IDE */

2015-02-24T22:57:04Z

Debugging with an Eclipse IDE

← Older revision		Revision as of 16:57, 24 February 2015
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	Just a few notes to the process:		Just a few notes to the process:
			* it is preferred to switch-off compiler optimization for debugging (use ''-O0'' in compiler settings in Makefile for given architecture)
	* install GCC Arm Embedded toolchain [https://launchpad.net/~terry.guo/+archive/gcc-arm-embedded] (recommended anyway for Paparazzi since v 5.0)		* install GCC Arm Embedded toolchain [https://launchpad.net/~terry.guo/+archive/gcc-arm-embedded] (recommended anyway for Paparazzi since v 5.0)
	* get Black Magic probe from Blacksphere [http://www.blacksphere.co.nz/main/blackmagic], it will make your life easier		* get Black Magic probe from Blacksphere [http://www.blacksphere.co.nz/main/blackmagic], it will make your life easier

Podhrmic: added info about compiling Paparazzi in Eclipse

2015-02-24T22:54:10Z

added info about compiling Paparazzi in Eclipse

@@ Line 52: / Line 52: @@
 === ChibiOS Tutorials ===
 Related videos about setting up Eclipse with ChibiOS plugins (called together ChibiStudio) are available [https://www.youtube.com/playlist?list=PLpDawCIUjDFFXjRFUT9tFcUuuvNb6iT1A here]
 = Paparazzi on Linux =

Podhrmic: added link to chibios tutorials

2015-01-28T21:38:59Z

added link to chibios tutorials

← Older revision		Revision as of 15:38, 28 January 2015
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	org.chibios.tools.eclipse.debug_1.0.8.jar		org.chibios.tools.eclipse.debug_1.0.8.jar
	to your ''eclipse/plugins'' directory. Restart Eclipse and in "Help->About Eclipe->Installation Details->Plugins" you should see both chibios plugins. Enable the plug-in while in the "Debug" view under: Window->Show View->Other...->ChibiOS/RT->ChibiOS/RT" (see [http://forum.chibios.org/phpbb/viewtopic.php?f=3&t=140] for details)		to your ''eclipse/plugins'' directory. Restart Eclipse and in "Help->About Eclipe->Installation Details->Plugins" you should see both chibios plugins. Enable the plug-in while in the "Debug" view under: Window->Show View->Other...->ChibiOS/RT->ChibiOS/RT" (see [http://forum.chibios.org/phpbb/viewtopic.php?f=3&t=140] for details)

			=== ChibiOS Tutorials ===
			Related videos about setting up Eclipse with ChibiOS plugins (called together ChibiStudio) are available [https://www.youtube.com/playlist?list=PLpDawCIUjDFFXjRFUT9tFcUuuvNb6iT1A here]

	= Paparazzi on Linux =		= Paparazzi on Linux =