Difference between revisions of "Booz"

Latest revision as of 15:53, 20 June 2012

Overview

Booz is an extension of Paparazzi to VTOLs. At the current stage of the project, the system provides attitude stabilization, vertical and horizontal guidance and automatic navigation. It is able to use Paparazzi flight plans and uses Paparazzi telemetry and datalink, which means all the Paparazzi ground segment applications are available( plotter, settings, gcs, etc...)

The current avionics consist of 3 boards

The main board, comprising power supply, a LPC2148 and a barometer.
The IMU board, comprising gyroscopes, accelerometers, magnetometers and a 16-bit ADC.
The GPS board, using a LEA-5H by ublox.

Additional Booz boards:

The "power" board.

It flies on a variety of Quad-rotor platforms

and less common vehicles

Simulator

Paparazzi features the advanced NPS simulator which can serve many purposes, from learning how to operate a vehicle to evaluating control or estimation algorithms.

Hardware

Motor controllers

Booz is able to handle a number of quadrotor specific brushless motor controllers.

more info in BoozMotorControllers

Power board

The power board allows to switch power on and off on your vehicle as well as to make a clean wiring by avoiding wired Y

more info in BoozPowerBoard

Booz GPS

more info in BoozGPSBoard

IMU

Booz has support for its custom designed IMU as well as for Cloudcap Crista IMU

more info in BoozIMU

Autopilot

Current version of Booz autopilot is based on a lpc2148

more info in BoozAutopilot

A new version of the autopilot, based on a STM32 is in development

more info in Lisa

Airframes

One nice thing about quadrotors is that the mechanics being extremely simple, they can be build with very few tools. Booz mounting holes are compatible with popular of the shelf frames.

more info in BoozAirframes

Purchasing Hardware

There are now vendors offering Booz hardware, Please see the Get Hardware page for details.

Hardware Test

Booz comes with a number of simple test programs that you can use to validate a newly assembled board or learn how booz code works in case you want to extend it.

more info in BoozHardwareTest

Software

Peripheral support

Type #	Model	Booz	Lisa/L
IMU	Boozv1	yes	yes
	crista	yes	yes
	mti	?	no
	vn100	?	no
RC	PPM	yes	no
	spektrum	yes	yes
Actuators	asctec	yes	yes
	mkk	yes	yes
	servospwm	2	6
	CAN	no	in progress

Sensors Calibration

All the sensors needs to be calibrated in order to provide useful informations. The calibration process needs to be performed after the assembly of the vehicle is complete.

- Note: The barometer on the Booz Main board is designed to work between -300 to 928 meters MSL. In this range it will create a zero offset, and then give 10cm resolution for 100 meters of altitude. BEWARE! if you fly above 100m the ADC will saturate. In addition, if you are someplace that is above 928 meters MSL the baro will not calibrate on boot, and will not output values. If you look at the RAW messages you will see that the BARO_RAW message reads 0 for both values. To fix the latter issue, the Value of R20 on the Main board can be changed to change the range. An example: If R20 is changes from a 560ohm to a 100ohm resistor, the new measurable range would be from -300 to 1800 meters. Because this changes the gain on the sensor it will also change the amount of altitude you can read from the ADC. For this case we reduce the amount to ~90 meters.

more info in BoozSensorsCalibration

GCS notes

If you set your ground modems for an interface rate different than 9600bps you need to add a flag to the "link" program on startup. In GCS if you use "Execute" you will see "link" is the first. You can click stop, then modify the command line by clicking in the text area. Add the -s flag with the baud rate you use. In my case 57600. So I use: -s 57600. Then click "Redo" and link will be restarted with the new flag and value (and you will start seeing messages and GCS wil populate). So you don't have to repeat this each time do "Save Session" and this will save the changes.

Airframe settings and Flight testing

BoozAirframe

User Gallery

This page holds a list of current Booz users

BoozUserList

@@ Line 1: / Line 1: @@
-== Where does it reside ? ==
+<div style="float: right; width: 30%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div>
+<div style="float: right; width: 40%">[[Image:booz_logo.jpg|480px|right]]</div>
-Everything is at savannah.
- -hardware in paparazzi4/trunk/hw/booz
- -code in paparazzi3/trunk
-Assembled hardware is be available soonish from ppzuav
 == Overview ==
+<p>Booz is an extension of Paparazzi to VTOLs. At the current stage of the project, the system provides attitude stabilization, vertical and horizontal guidance and automatic navigation. It is able to use Paparazzi flight plans and uses Paparazzi telemetry and datalink, which means all the Paparazzi ground segment applications are available( plotter, settings, gcs, etc...)</p>
-Booz is an attempt at extending paparazzi to VTOLs. At the current stage of the project, the system provides satisfying attitude control (auto1), vertical guidance and is able to more or less navigate autonomously. It is able to use simple paparazzi flight plans ( only go instructions ) and uses paparazzi telemetry and datalink, which means you can use all the paparazzi ground segment applications ( plotter, settings, gcs, etc...)
+<p>The current avionics consist of 3 boards</p>
-The current autopilot consist in 3 boards
 [[Image:booz2_main.jpg|240px]]
 [[Image:booz2_imu.jpg|240px]]
-[[Image:IMU001.jpg|240px]]
+[[Image:Boozassy2.jpg|300px]]
-[[Image:booz2_gps.jpg|240px]]
 * The main board, comprising power supply, a LPC2148 and a barometer.
+* The IMU board, comprising gyroscopes, accelerometers, magnetometers and a 16-bit ADC.
+* The GPS board, using a LEA-5H by ublox.
-* The imu board, comprising gyrometers, accelerometers, magnetometers and a 16 bits ADC.
+<p>Additional Booz boards:</p>
+[[Image:Med_BoozPower03.jpg|240px]]
-* The GPS board, using a LEA-5H by ublox
+* The "power" board.
-It flies on a variety of quadrirotor platforms
+<p>It flies on a variety of Quad-rotor platforms</p>
 [[Image:small_quad.jpg|240px]]
@@ Line 36: / Line 29: @@
 [[Image:booz2_a5.jpg|240px]]
-<!--
+== Simulator ==
-<graphviz border='frame' format='svg'>
-digraph G {
-  "attitude filter" [
-    URL="[[Booz#Attitude_Filter]]"
-    fontcolor=blue
-  ]
-  "actuators" [
-    URL="[[Booz#Motor controllers]]"
-    fontcolor=blue
-  ]
-  "supervision" [
-    URL="[[Booz#Supervision]]"
-    fontcolor=blue
-  ]
-  IMU->"attitude filter"
-  "attitude filter"->"stabilization attitude" [label="filter_att_aligned[]"]
-  "stabilization attitude"->supervision->actuators
-  aligner->"attitude filter[[Link title]]"
-  "r/c"->autopilot
-  guidance_v->supervision
-  nav->guidance_h->"stabilization attitude"
-  nav->guidance_v
-  GPS->INS->"stabilization attitude"
-  GPS->guidance_h
-  baro->guidance_v
-  IMU->guidance_v
-  autopilot->FMS->datalink
-  datalink->FMS->autopilot
-}
-</graphviz>
--->
-== Running a simulator : quick start guide ==
+Paparazzi features the advanced [[NPS]] simulator which can serve many purposes, from learning how to operate a vehicle to evaluating control or estimation algorithms.
-Booz contains a sensors model and can use [http://jsbsim.sourceforge.net/ Jsbsim] to allow arbitrarily complex flight dynamic models.
+== Hardware ==
+=== Motor controllers ===
+Booz is able to handle a number of quadrotor specific brushless motor controllers.
-* Extract a copy of paparazzi3 svn
+more info in [[BoozMotorControllers]]
-  svn co svn://svn.savannah.nongnu.org/paparazzi/paparazzi3/trunk paparazzi3
-* Install all required dependancies
+=== Power board ===
- apt-get install paparazzi-dev libtool
+The power board allows to switch power on and off on your vehicle as well as to make a clean wiring by avoiding wired Y
+more info in [[BoozPowerBoard]]
-* Compile JSBSIM
+=== Booz GPS ===
-  cvs -z3 -d:pserver:anonymous@jsbsim.cvs.sourceforge.net:/cvsroot/jsbsim co -P JSBSim
+more info in [[BoozGPSBoard]]
-  cd JSBSim
-  ./autogen.sh
-  ./configure --enable-maintainer-mode --enable-compile-warnings --enable-libraries --enable-shared --prefix=/opt/jsbsim
-  make
-  sudo make install
-here is a ''[[Media:‎Jsbsim silent warnings.patch.gz.jpg|patch]]'' to silent warnings
+=== IMU ===
+Booz has support for its custom designed IMU as well as for [http://www.cloudcaptech.com/ Cloudcap] Crista IMU
-* Compile paparazzi
+more info in [[BoozIMU]]
-  cd paparazzi3/trunk
-  make
-* Compile the vehicle
+=== Autopilot ===
-  make AIRCRAFT=BOOZ2_A1 clean_ac sim
+Current version of Booz autopilot is based on a lpc2148
+more info in [[BoozAutopilot]]
-* Start paparazzi_center if you want click to start programs
+A new version of the autopilot, based on a STM32 is in development
- ./paparazzi
-* Start messages to watch the middleware activity ( from the tool menu of paparazzi center) or with
+more info in [[Lisa]]
- ./sw/ground_segment/tmtc/messages
-* Start the sim
+=== Airframes ===
- LD_LIBRARY_PATH=/opt/jsbsim/lib ./var/BOOZ2_A1/sim/simsitl
-You should now see activity in the "messages" window
+One nice thing about quadrotors is that the mechanics being extremely simple, they can be build with very few tools.
+Booz mounting holes are compatible with popular of the shelf frames.
-* Plot the value of a message field.
+more info in [[BoozAirframes]]
-start 'plotter' ( from the tool menu of paparazzi center) or with
-  ./sw/logalizer/plotter
-for example drag the label 'int32 phi' from the BOOZ2_FP message to the drawing area of the plotter
+===Purchasing Hardware===
+<p>There are now vendors offering Booz hardware, Please see the [http://paparazzi.enac.fr/wiki/Get_Hardware Get Hardware] page for details.</p>
-* Use the datalink to change the temetry mode
+== Hardware Test ==
-start 'settings' ( from the tool menu of paparazzi center) or with
-  ./sw/ground_segment/tmtc/settings -ac BOOZ2_A1
-start 'server' to dispatch datalink messages ( from the tool menu of paparazzi center) or with
- ./sw/ground_segment/tmtc/server
-change the field "telemetry" on the first page to "Att loop" and send by pressing the green check button. THe label on the left or the drop box should change to "Att loop" confirming your essage has been received. "message" should now show that the message "BOOZ2_STAB_ATTITUDE" is received
-* Use flightgear to visualize your vehicle
+Booz comes with a number of simple test programs that you can use to validate a newly assembled board or learn how booz code works in case you want to extend it.
-If you want a view of a quadrotor in flightgear, make a link from
- /usr/share/games/FlightGear/Models/Aircraft/paparazzi to PAPARAZZI_SRC/conf/simulator/flightgear/
-start flighgear with
- fgfs --fdm=null --native-gui=socket,in,30,,5501,udp --prop:/sim/model/path=Models/Aircraft/paparazzi/mikrokopter.xml
-restart your simulator with
-  LD_LIBRARY_PATH=/opt/jsbsim/lib ./var/BOOZ2_A1/sim/simsitl --fg_host 127.0.0.1
-* Save you session
+more info in [[BoozHardwareTest]]
-== Tunning the attitude control loop ==
+== Software ==
-Here we are going to use the simulator to demonstrate a way of tunning the attitude control loop.
+=== Peripheral support ===
-* Restart your previous session
+{|border="1"  cellspacing="0" style="text-align:center" cellpadding="6"
+!''Type #''!!''Model''!!''Booz''!!''Lisa/L''
+|-
+|IMU       ||Boozv1   ||yes||yes
+|-
+|          ||crista   ||yes||yes
+|-
+|          ||mti      || ? ||no
+|-
+|          ||vn100    ||?  ||no
+|-
+|RC        ||PPM      ||yes||no
+|-
+|          ||spektrum ||yes||yes
+|-
+|Actuators ||asctec   ||yes||yes
+|-
+|          ||mkk      ||yes||yes
+|-
+|          ||servospwm|| 2 || 6
+|-
+|          ||CAN      ||no || in progress
+|-
+|}
-* Set telemetry mode to "Att loop"
-* Display two real time plotter windows
-In the first one, plot the field "m_phi" from the "BOOZ2_STAB_ATTITUDE" message. This is our estimation of roll angle.
+== Sensors Calibration ==
-On top of that, plot the field "phi" from the "BOOZ2_STAB_ATTITUDE_REFERENCE" message. This is our reference roll angle, that is, the roll value we are trying to achieve.
-In the second plotter, plot the fields "delta_a_fb" and "delta_a_ff". Those are respectively the feddback and feedforward part of our roll command. The sum of those two terms is what is used as roll command.The feedforward part is the part used to follow our trajectory and the feedback part is the part used to reject perturbations.
+All the sensors needs to be calibrated in order to provide useful informations. The calibration process needs to be performed after the assembly of the vehicle is complete.
+**Note:  The barometer on the Booz Main board is designed to work between -300 to 928 meters MSL.  In this range it will create a zero offset, and then give 10cm resolution for 100 meters of altitude.  BEWARE! if you fly above 100m the ADC will saturate.  In addition, if you are someplace that is above 928 meters MSL the baro will not calibrate on boot, and will not output values.  If you look at the RAW messages you will see that the BARO_RAW message reads 0 for both values.  To fix the latter issue, the Value of R20 on the Main board can be changed to change the range.  An example: If R20 is changes from a 560ohm to a 100ohm resistor, the new measurable range would be from -300 to 1800 meters.  Because this changes the gain on the sensor it will also change the amount of altitude you can read from the ADC.  For this case we reduce the amount to ~90 meters.
-* In "Settings", go to the "Att Loop" tab
+more info in [[BoozSensorsCalibration]]
-We notice that the vehicle doesn't follow accurately the step trajectory we are trying to make him do.
-Start by setting the value of the proportional gain ('pgain_phi') to 1000 instead of 400. The vehicle now follows the trajectory faster but overshoots. To prevent that, increase the value of the derivative gain ('dgain p') from -300 to -700.
-If you look at the plotter where you're ploting the commands, you'll notice that during steps, the feedback command has to work hard. This means that our feedforward command is badly tunned, and namely not working hard enough.Increase the value of the feedforward gain ('ddgain p') from 300 to 540. You'll notice that now the feedback command has becomed marginal during the steps. This is the right value for the gain. Anything bigger will make the feedback command fight against the feedforward command during steps, anything smaller will make the feedback command have to complement the feedforward command.
+== GCS notes ==
+* If you set your ground modems for an interface rate different than 9600bps you need to add a flag to the "link" program on startup. In GCS if you use "Execute" you will see "link" is the first. You can click stop, then modify the command line by clicking in the text area. Add the -s flag with the baud rate you use. In my case 57600. So I use: -s 57600. Then click "Redo" and link will be restarted with the new flag and value (and you will start seeing messages and GCS wil populate). So you don't have to repeat this each time do "Save Session" and this will save the changes.
-== Something else ==
+== Airframe settings and Flight testing ==
+* [[BoozAirframe]]
-* try starting flightgear with
+== User Gallery ==
- fgfs --fdm=null --native-gui=socket,in,30,,5501,udp --prop:/sim/model/path=Models/Aircraft/paparazzi/simple_bipe.xml
+This page holds a list of current Booz users
-an the sim with
+[[BoozUserList]]
- LD_LIBRARY_PATH=/opt/jsbsim/lib ./var/BOOZ2_A1/sim/simsitl --fg_host 127.0.0.1 --rc_script 1
+[[Category:Autopilots]] [[Category:Booz]]

Difference between revisions of "Booz"

Latest revision as of 15:53, 20 June 2012

Contents

Overview

Simulator

Hardware

Motor controllers

Power board

Booz GPS

IMU

Autopilot

Airframes

Purchasing Hardware

Hardware Test

Software

Peripheral support

Sensors Calibration

GCS notes

Airframe settings and Flight testing

User Gallery

Navigation menu

Difference between revisions of "Booz"

Latest revision as of 15:53, 20 June 2012

Overview

Simulator

Hardware

Motor controllers

Power board

Booz GPS

IMU

Autopilot

Airframes

Purchasing Hardware

Hardware Test

Software

Peripheral support

Sensors Calibration

GCS notes

Airframe settings and Flight testing

User Gallery

Navigation menu

Search