User:Scdwyer - Revision history

Scdwyer: got rid of overview scratch work

2012-05-17T21:56:14Z

got rid of overview scratch work

Scdwyer: /* Configuration */

2012-05-17T01:44:33Z

Configuration

← Older revision		Revision as of 19:44, 16 May 2012
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	==== Configuration ====		==== Configuration ====

	The autopilot code is written in C and uses code generation to allow for easy configuration through XML files. The primary configuration files are the:		The autopilot code is written in C and features a level of hardware abstraction. Paparazzi uses code generation to allow for easy configuration through XML files. The primary configuration files are the:
	* [[Airframe_Configuration\|Airframe XML File]]		* [[Airframe_Configuration\|Airframe XML File]]
	** defines all autopilot parameters including hardware configurations and control loop settings		** defines all autopilot parameters including hardware configurations and control loop settings
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	Code is segregated into two processes respectively handling the ''fly by wire'' (manual control) and the ''autopilot'' itself (stabilization and navigation). Usually, rotorcraft do not use a direct manual control mode as some level of computer-aided stabilization is often needed to maintain stable flight. In addition, onboard code is split between ''periodic tasks'' and ''event tasks''. Periodic tasks are scheduled time sensitive tasks executed at specific periodic intervals. Examples include navigation actions, control loops and periodic telemetry messages. Event tasks are carried out in response to something. For example, receiving new GPS data or a datalink message. The fly by wire process is always given priority.		Code is segregated into two processes respectively handling the ''fly by wire'' (manual control) and the ''autopilot'' itself (stabilization and navigation). Usually, rotorcraft do not use a direct manual control mode as some level of computer-aided stabilization is often needed to maintain stable flight. In addition, onboard code is split between ''periodic tasks'' and ''event tasks''. Periodic tasks are scheduled time sensitive tasks executed at specific periodic intervals. Examples include navigation actions, control loops and periodic telemetry messages. Event tasks are carried out in response to something. For example, receiving new GPS data or a datalink message. The fly by wire process is always given priority.


	== Ground Control Station (GCS) ==		== Ground Control Station (GCS) ==

Scdwyer: /* Overview */

2012-05-17T01:37:13Z

Overview

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Scdwyer: /* Overview */

2012-05-16T22:37:15Z

Overview

← Older revision		Revision as of 16:37, 16 May 2012
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	===== Safety Link =====		===== Safety Link =====

	A traditional radio control transmitter and receiver pair is used to provide a manual control option for the UAV. The autopilot reads output from the R/C receiver onboard the aircraft and decides what control mode is desired. When in manual mode, a safety pilot on the ground may use the R/C transmitter to control the aircraft. In the case of rotorcraft, some level of computer control is usually necessary to maintain stable flight, even under "manual" control. The Paparazzi manual bypass or "Fly-by-Wire" system has been finely tuned over many years and provides a reliable method of providing override control even though the autopilot always remains inline between R/C receiver and actuators.		A traditional radio control transmitter and receiver pair is used to provide a manual control option for the UAV. The airborne hardware and software support the connection to a standard (patched) radio-control receiver. The autopilot reads output from the R/C receiver onboard the aircraft and decides what control mode is desired. When in manual mode, a safety pilot on the ground may use the R/C transmitter to control the aircraft. In the case of rotorcraft, some level of computer control is usually necessary to maintain stable flight, even under "manual" control. The Paparazzi manual bypass or "Fly-by-Wire" system has been finely tuned over many years and provides a reliable method of providing override control even though the autopilot always remains inline between R/C receiver and actuators.

			While this link is not required for actual autonomous flights, it may help during the tuning of a new aircraft and is usually considered as an important safety control redundancy.

	Paparazzi can support almost all types of R/C system.		Paparazzi can support almost all types of R/C system.
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	* an easy method of extending functionality with the Ivy Bus		* an easy method of extending functionality with the Ivy Bus

	=== Datalink ===		=== Groundside Datalink ===

	Paparazzi offers several possibilities to supervise the UAV flight from the ground. The default one uses a bidirectionnal wireless modem which supports both telemetry (downlink) and telecontrol (uplink), as described above in the [[#Telemetry_and_Datalink]] section. Thanks to this datalink, flight parameters are available in real time and full control of the navigation and tuning of one or several aircraft is possible from the ground station.		Paparazzi offers several possibilities to supervise the UAV flight from the ground. The default one uses a bidirectionnal wireless modem which supports both telemetry (downlink) and telecontrol (uplink), as described above in the [[#Telemetry_and_Datalink\|Airborne Telemetry and Datalink]] section. Thanks to this datalink, flight parameters are available in real time and full control of the navigation and tuning of one or several aircraft is possible from the ground station.

	~~=== Safety Link ===~~		The ground side of the link usually consists of a match radio modem, like an XBee, connected to the ground station computer over USB or serial port.

	The ~~airborne hardware and software support~~ the ~~connection to~~ a ~~standard~~ (~~patched~~) ~~radio-control receiver~~. ~~While this link~~ is ~~not required for actual autonomous flights, it may help during~~ the ~~tuning of a new~~ aircraft ~~and is usually considered~~ as ~~an important safety control redundancy~~.		=== Groundside Safety Link ===

			The ground side of the safety link usually consists of a radio control transmitter (and safety pilot). It is used to provide manual control of the aircraft, as described above in the [[#Safety_Link\|Airborne Safety Link]] section.

	== Payloads ==		== Payloads ==

	Paparazzi is designed to interface with a wide variety of payloads. The airborne board can control many servos for autonomous and/or manual [[Pan_Tilt_Camera\|Pan/Tilt camera systems]] or other mechanical payloads, SPI, I<sup>2</sup>C, and GPIO connections are available to connect digital devices (i.e. lights or digital camera shutter), and analog inputs are available to interface with just about any sensor imaginable. The associated software is easily integrated into the open-source code. ~~The [[Classix]] board~~ can also be connected to a [http://www.gumstix.com Gumstix Computer] for highly sophisticated payload software applications.		Paparazzi is designed to interface with a wide variety of payloads. The airborne board can control many servos for autonomous and/or manual [[Pan_Tilt_Camera\|Pan/Tilt camera systems]] or other mechanical payloads, SPI, I<sup>2</sup>C, and GPIO connections are available to connect digital devices (i.e. lights or digital camera shutter), and analog inputs are available to interface with just about any sensor imaginable. The associated software is easily integrated into the open-source code. Some boards can also be connected to a [http://www.gumstix.com Gumstix Computer] for highly sophisticated payload software applications, as described in [[OMAP\|OMAP Integration]].

	== Disclaimers ==		== Disclaimers ==
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	It should be understood that smooth, reliable autonomous flight is a great feat and will require significant time and effort to achieve, even with a highly evolved open system like Paparazzi. The time required will vary based on experience, aircraft, and luck. From experience however, users can expect to spend a similar amount of time learning and configuring Paparazzi as they may with any of the commercially available systems.		It should be understood that smooth, reliable autonomous flight is a great feat and will require significant time and effort to achieve, even with a highly evolved open system like Paparazzi. The time required will vary based on experience, aircraft, and luck. From experience however, users can expect to spend a similar amount of time learning and configuring Paparazzi as they may with any of the commercially available systems.

	Linux itself can pose quite a challenge to install, configure, and learn. To help ease the transition for those not already running Linux, the LiveCD option is available to help get you started. The LiveCD allows the user to save all configuration files as well as any user-modified source code on a pen drive or as a compressed file on your hard drive without affecting your existing OS. We strongly urge new users to [[Contact\|Contact]] someone from the Paparazzi team before beginning any hardware investment as we can help you get the most out of the system.		Linux itself can pose quite a challenge to install, configure, and learn. We strongly urge new users to [[Contact\|Contact]] someone from the Paparazzi team before beginning any hardware investment as we can help you get the most out of the system.


			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.

	----		----

Scdwyer: /* Overview */

2012-05-16T22:26:40Z

Overview

← Older revision		Revision as of 16:26, 16 May 2012
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	* a basic simulator to ease the development of flight plans and verify some airborne code behaviour		* a basic simulator to ease the development of flight plans and verify some airborne code behaviour
	* a data logging system with plot-based viewer for real-time and post-flight analysis		* a data logging system with plot-based viewer for real-time and post-flight analysis
			* a number of utilities for communicating with the UAV and other agents
			* a number of tools for calibration, etc.
	* a control panel GUI for configuration and program management		* a control panel GUI for configuration and program management
			* an easy method of extending functionality with the Ivy Bus

	=== Datalink ===		=== Datalink ===

	Paparazzi offers several possibilities to supervise the UAV flight from the ground. The default one uses a bidirectionnal wireless modem which supports both telemetry (downlink) and telecontrol (uplink). Thanks to this datalink, flight parameters are available in real time and full control of the navigation and tuning of one or several aircraft is possible from the ground station.		Paparazzi offers several possibilities to supervise the UAV flight from the ground. The default one uses a bidirectionnal wireless modem which supports both telemetry (downlink) and telecontrol (uplink), as described above in the [[#Telemetry_and_Datalink]] section. Thanks to this datalink, flight parameters are available in real time and full control of the navigation and tuning of one or several aircraft is possible from the ground station.

	=== Safety Link ===		=== Safety Link ===

Scdwyer: /* Overview */

2012-05-16T05:18:41Z

Overview

← Older revision		Revision as of 23:18, 15 May 2012
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	** Attitude Sensors		** Attitude Sensors
	*** [[IMU]], or		*** [[IMU]], or
	*** [[IR]] sensors		*** [[IR]] sensors (fixed-wing only)
	** [[GPS]] Receiver		** [[GPS]] Receiver
	** [[Sensors/Airspeed\|Pressure]] sensors		** [[Sensors/Airspeed\|Pressure]] sensors
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	* [[RC_Receivers_and_Radios\|RC Receiver]] (safety link)		* [[RC_Receivers_and_Radios\|RC Receiver]] (safety link)
	* Actuators (servos)		* Actuators (servos)
	* Propulsion System (electric ~~motors~~/speed ~~controls~~ or IC ~~engines~~)		* Propulsion System (electric motor(s)/speed control(s) or IC engine(s))
	* Batteries		* Batteries
	* Payload (example: camera and video transmitter)		* Payload (example: camera and video transmitter)
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	\|}		\|}

	The [[Gallery\|User's Gallery]] ~~shows~~ some of the many Paparazzi aircraft.		The [[Gallery\|User's Gallery]] and [[Booz/UserList\|Booz User List]] show some of the many Paparazzi aircraft.

	=== Airborne Electronics ===		=== Airborne Electronics ===
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	== Ground Control Station (GCS) ==		== Ground Control Station (GCS) ==

			The ground control station is where an operator interacts with an Unmanned Aircraft System. It generally consists of several parts, usually providing feedback about UAV activity, allowing command and control of the aircraft and providing a method of override control for the system.

	=== Ground Computer ===		=== Ground Computer ===

	The software ~~is developped~~ to be run on a i386 architecture ~~with~~ the [http://www.debian.org Debian GNU/linux] operating system. ~~However~~ a ~~Live CD including all~~ the ~~software~~ is ~~provided: it should be able to boot any standard laptop~~.		The software suite was developed to be run on a i386 architecture based on the [http://www.debian.org Debian GNU/linux] operating system. Currently, Ubuntu is a popular and well supported choice for Paparazzi, while Mac OS X is also supported. Selection of a computer will vary based on application, but a small notebook easy to take to the flying field with good battery life is typical.

			For more information on operating system options, please visit the [[Installation]] page.

	=== Ground Software ===		=== Ground Software ===

	The software mainly provides		Just as important as the software running onboard the main autopilot board in the air is the corresponding software on the GCS, providing the human interface for configuration, monitoring and control of the UAS.
	* ~~compiling~~ tools to produce the airborne ~~code~~ from the ~~configuration;~~
	* a GUI to control and interact with the UAV(s) during flight;		The Paparazzi software suite is fully featured with solid core functionality, easy customization and flexible extensibility. It supports all types of airframes, as well as multiple UAVs.
	* a basic simulator to ease the development of flight plans.
			The software suite mainly provides
			* compilation tools to produce the airborne software from the configurations and source code
			* a GUI to control and interact with the UAV(s) during flight as well as mission planning and simulation
			* a basic simulator to ease the development of flight plans and verify some airborne code behaviour
			* a data logging system with plot-based viewer for real-time and post-flight analysis
			* a control panel GUI for configuration and program management

	=== Datalink ===		=== Datalink ===

Scdwyer: /* Overview */

2012-05-15T15:45:08Z

Overview

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Scdwyer: /* Overview */

2012-05-15T00:09:15Z

Overview

← Older revision		Revision as of 18:09, 14 May 2012
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	Paparazzi was originally designed for use with fixed-wing aircraft, but has since been expanded to include rotorcraft and work is underway to properly support hybrid aircraft. The hardware required for each type of airframe is essentially the same, and software uses many of the same elements with some parts interchanged. For example, fixed-wing stabilization control loop requirements are different than rotorcraft, while a datalink driver is essentially identical.		Paparazzi was originally designed for use with fixed-wing aircraft, but has since been expanded to include rotorcraft and work is underway to properly support hybrid aircraft. The hardware required for each type of airframe is essentially the same, and software uses many of the same elements with some parts interchanged. For example, fixed-wing stabilization control loop requirements are different than rotorcraft, while a datalink driver is essentially identical.

			SOME AIRFRAME PICTURES HERE

			The Paparazzi software suite by default supports traditional fixed-wing and multicopter airframes. The customizability of the software and support for a variety of hardware results in a flexible system capable of controlling many airframe configurations. In addition, hybrid aircraft development is underway and with some effort, additional systems such as traditional helicopters, gliders, marine and ground vehicles could be added (though are currently not supported by default).

	The key components in a Paparazzi UAV are:		The key components in a Paparazzi UAV are:
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	*** IMU, or		*** IMU, or
	*** IR sensors		*** IR sensors
			** Pressure sensors
			** Others: current, sonar, etc.
	* Datalink Radio		* Datalink Radio
	* RC Receiver (safety link)		* RC Receiver (safety link)
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	In general, some components can be omitted or additional ones added, depending on the system requirements. For example, if no ground station is used (besides an RC transmitter), the datalink radio is not required.		In general, some components can be omitted or additional ones added, depending on the system requirements. For example, if no ground station is used (besides an RC transmitter), the datalink radio is not required.

	An example overview diagram of a fixed-wing system layout is presented. Different configurations are certainly possible!		An example overview diagram of a fixed-wing system layout is presented. The classic FunJet is illustrated here. Different configurations are certainly possible!
	{\|		{\|
	\|-		\|-
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	----		----

	= Autopilot Feature Comparison Matrix =		= Autopilot Feature Comparison Matrix =

Scdwyer: /* Aircraft */

2012-05-14T22:12:08Z

Aircraft

@@ Line 53: / Line 53: @@
 == Aircraft ==
-Paparazzi was originally designed for use with fixed-wing aircraft, but has since been expanded to include rotorcraft and work is underway to properly support hybrid aircraft.
+Paparazzi was originally designed for use with fixed-wing aircraft, but has since been expanded to include rotorcraft and work is underway to properly support hybrid aircraft. The hardware required for each type of airframe is essentially the same, and software uses many of the same elements with some parts interchanged. For example, fixed-wing stabilization control loop requirements are different than rotorcraft, while a datalink driver is essentially identical.
 An example overview diagram of a fixed-wing system layout is presented. Different configurations are certainly possible!

Scdwyer: started revamping system overview

2012-05-13T05:29:53Z

started revamping system overview

Show changes