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<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Installation</categorytree>
__TOC__
'''<span style="color:red">This page only describes the installation of the prerequisite tools and dependencies on Debian/Ubuntu needed for Paparazzi.</span>'''
'''See the general [[Installation]] page for how to [[Installation#Getting_the_Source_Code|download Paparazzi]] and [[Installation#Launching_the_Software|launching it]] after you followed the instructions here.'''
== Introduction ==
== Introduction ==


Paparazzi is very easily installed on any laptop or workstation running the [http://www.ubuntu.com/ Ubuntu Linux OS] or virtually any [http://www.debian.org/ Debian] based [http://en.wikipedia.org/wiki/Linux Linux] or even Apple Macintosh running [[InstallationMacOSX|Mac OS X]].
Paparazzi is very easily installed on any laptop or workstation running [http://www.ubuntu.com/ Ubuntu], [http://www.debian.org/ Debian] (or any of their derivatives).


The steps required to install the software needed to be able to let your UAS fly  
The steps required to install the software needed to be able to let your UAS fly  
<ul>
<ul>
<li>Install a recent Ubuntu Linux operating system
<li>[[Installation/Linux#Installation_of_dependencies|Install the basic Paparazzi dependencies]] and the [[Installation/Linux#ARM_embedded_toolchain|ARM cross compiling toolchain.]]
<li>The basic Paparazzi tools installed via Synaptic Package Manager.
<li>[[Installation#Getting_the_Source_Code|Download the source code from the source repository.]]
<li>Download the source code from the source repository.
<li>Allow access to your PC hardware connection by adding appropriate [[Udev]] rules.
<li>Allow access to your PC hardware connection by copying the [http://www.openuas.org/pub/writing_udev_rules.html rules file]: (export PAPARAZZI_HOME=~/paparazzi; export PAPARAZZI_SRC=~/paparazzi; sudo cp $PAPARAZZI_HOME/conf/system/udev/rules/50-paparazzi.rules /etc/udev/rules.d/)
<li>[[Installation#Launching_the_Software|Compile the binaries from the sources and launch the software.]]
<li>Compile the binaries from the sources (cd paparazzi && make)
</ul>
</ul>


That's all.
Users of other Linux flavors than a recent Ubuntu or Debian and anyone needing manual control of each individual package can [[Installation/Manual|install them independently]].


=== Operating System ===
===For the impatient===


Paparazzi is very easily installed on any laptop or workstation running the [http://www.ubuntu.com/ Ubuntu Linux OS] or virtually any [http://www.debian.org/ Debian] based [http://en.wikipedia.org/wiki/Linux Linux]. Paparazzi is packaged for Debian as well as all of it's dependencies. The [http://paparazzi.enac.fr/debian repository] hosted at ENAC holds their latest version.
For Ubuntu add the [https://launchpad.net/~paparazzi-uav/+archive/ppa paparazzi-uav ppa] <tt>sudo add-apt-repository ppa:paparazzi-uav/ppa</tt> and install the <tt>paparazzi-dev</tt> package.


It is also possible to have your Debian/Ubuntu running in a virtual machine, for instance with [http://www.virtualbox.org/ VirtualBox]. This requires minimal changes to your computer setup, as you can run the VM from all common platforms (Windows, [http://paparazzi.enac.fr/wiki/InstallationMacOSX OS X], Linux). The virtual machine image can easily be transferred between different laptops, giving greater flexibility. Unfortunately, the Open-Source Edition of VirtualBox doesn't include the necessary USB support, so you'll need to get the regular version from the website.
Since Paparazzi v5.0 the [https://launchpad.net/gcc-arm-embedded/ gcc-arm-embedded toolchain] is recommended.
Available as of Ubuntu 14.04, on older versions it can be [[Installation/Linux#ARM_embedded_toolchain|installed via tarball]].


If you are new and this is your first time installing it is suggested you keep it simple. Select a system you can dedicate to the Linux installation. No VMs or dual boot configurations. The idea is do a very simple generic installation that is certain to have no issues. This reassures you that the installation process works and you can see and use a working Paparazzi install for some time before you try a more complicated install. The install is well documented below and certain to succeed if followed exactly. Most issues arise when someone unfamiliar with Linux tries a non-standard install that requires special steps not documented here.
Or just use the [[Installation#Quickstart_on_Ubuntu_12.04|Quickstart for Ubuntu 12.04 LTS]].


=== Compilers and Handlers ===
== Installation video Tutorials ==


The typical installation contains all of the necessary C and OCaml compilers as well as some XML and [http://www.tls.cena.fr/products/ivy/ Ivy] handlers. These tools are provided by the ''paparazzi-dev'' package. Have no fear, this is all taken care of for you so all you must do is type a few simple commands. Below are those commands and helpful information. Commands can be copied and pasted from these pages to make it as easy as possible.
{{#ev:youtubehd|SshFJrBuku8}} {{#ev:youtubehd|eW0PCSjrP78}}


=== Source Code ===
== Installation of dependencies ==


The Paparazzi source code is hosted by [https://github.com/paparazzi/paparazzi Github]. It is downloaded using [[git]].
=== Ubuntu ===
'''Binary packages for Ubuntu are available for the ''i386'', ''amd64'' and ''armhf'' architectures.'''


== Installation of Compilers and Handlers ==
Add the installation sources for the Paparazzi software packages. Run from a terminal:
sudo add-apt-repository ppa:paparazzi-uav/ppa


=== Using Synaptic Package Manager ===
Then update the systems package inventory and install the main Paparazzi software dependencies. This will take some time.
* Launch ''Synaptic Package Manager'' (Menu '''System/Administration''')
sudo apt-get update
* In '''Settings/Repositories''', add a new repository (Software Source) in the tab '''Other Software''':<br>APT line: <tt>deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> natty main</tt><br>This APT line works for Ubuntu Natty/11.04. For other Ubuntu versions adapt as described below in the command line section.
sudo apt-get install paparazzi-dev
* Search for <tt>paparazzi-dev</tt>, <tt>paparazzi-arm7</tt> and <tt>paparazzi-stm32</tt> packages (use the ''Search'' button)
* Mark them for installation (right-click on package names)
* Left-click on ''Apply''


=== From the Command Line ===
=== Debian ===
'''Binary packages for Debian are available for the ''i386'' and ''amd64'' architectures. ''armhf'' packages seem to be currently not supported by the OpenSUSE build service.'''


If the Synaptic Package Manager doesn't work for you, you can alternatively use the command line:
For Debian Wheezy (7.0), Jessie (8.0), Stretch (9.0) and Buster (10) packages are built using the [http://openbuildservice.org/ Open Build Service (OBS)] on [https://build.opensuse.org/project/show?project=home%3Aflixr%3Apaparazzi-uav OpenSUSE Build Service project home:flixr:paparazzi-uav]


For the sources file (sources.list) you only add the line required for your version. Linux names their versions.  
[http://software.opensuse.org/download/package?project=home:flixr:paparazzi-uav&package=paparazzi-dev Install paparazzi-dev]


Just add the following lines to your repository list (<b>/etc/apt/sources.list</b>) and then
First add the key:
uncomment the line relevant to your operating system (e.g. one of etch, gutsy or hardy):
wget -q "http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_10/Release.key" -O- | sudo apt-key add -


Note: Because of the sources.list file permissions maybe you will need to edit it with root access. In Terminal write this:
Add the appropriate repo, depending on your Debian version to sources.list
echo "deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_10/ ./" | tee -a /etc/apt/sources.list
echo "deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_9.0/ ./" | tee -a /etc/apt/sources.list
echo "deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_8.0/ ./" | tee -a /etc/apt/sources.list
echo "deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_7.0/ ./" | tee -a /etc/apt/sources.list


  gksudo gedit /etc/apt/sources.list
Update the systems package inventory and install the main Paparazzi software dependencies.
sudo apt-get update
  sudo apt-get install paparazzi-dev


{{Box Code|/etc/apt/sources.list|
== ARM embedded toolchain ==
# Uncomment just _one_ of the following lines - depending on your OS version
# deb <nowiki>http://paparazzi.enac.fr/debian</nowiki> etch main
# deb <nowiki>http://paparazzi.enac.fr/debian</nowiki> lenny main
# deb <nowiki>http://paparazzi.enac.fr/debian</nowiki> squeeze main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> gutsy main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> hardy main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> intrepid main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> jaunty main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> karmic main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> lucid main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> maverick main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> natty main
}}


Then, update your sources and install the dependencies needed for recompiling from the source (<b>dev</b>), and the cross-compilers (<b>arm7</b>, <b>stm32</b> or both) :
For current Paparazzi versions (v5.0 and above) the [https://launchpad.net/gcc-arm-embedded/ gcc-arm-embedded toolchain] is recommended, which also supports the STM32F4 with FPU (hardware floating point).


For ARM7 (i.e. Tiny or TWOG boards) :
=== gcc-arm-none-eabi as Debian/Ubuntu package ===
sudo apt-get update
sudo apt-get install paparazzi-dev paparazzi-arm7
-- or newerdays --
sudo apt-get install paparazzi-dev paparazzi-lpc21


For STM32 (i.e. Lisa boards) :
'''This is the recommended method'''
sudo apt-get update
sudo apt-get install paparazzi-dev paparazzi-stm32


==== Obsolete Packages ====
Note that there are actually two '''different''' toolchains available!
Users of the older AVR based boards will also need the <b>paparazzi-avr</b> package. It is unlikely you need it.
* [https://launchpad.net/gcc-arm-embedded/ ARM gcc-arm-embedded toolchain] with Debian package name ''gcc-arm-embedded''
** includes libstdc++ and newlib-nano
* [https://packages.debian.org/jessie/gcc-arm-none-eabi Debian gcc-arm-none-eabi toolchain]
** does not include libstdc++
** does not include newlib-nano


==== Older Ubuntu Versions ====
Both toolchains ''should'' work for most use-cases (if you don't need C++ or nano specs), although the [https://launchpad.net/gcc-arm-embedded/ ARM gcc-arm-embedded toolchain] is better tested.
 
On older Linux distributions (not needed for lucid and later), the Braille TTY driver interferes with FTDI USB Serial adapters. If somehow your FTDI serial adapter does not work, remove the package via:


sudo apt-get remove brltty
==== gcc-arm-embedded toolchain ====


=== Manual Installation of Individual Packages ===
'''This is the recommended toolchain'''
Users of other Linux flavors than a recent Ubuntu or anyone needing manual control of each individual package can [[Manual_Installation|install them independently]].


== Downloading the Source Code ==
On ''most'' Ubuntu versions the [https://launchpad.net/gcc-arm-embedded/ gcc-arm-embedded toolchain] can be installed as a debian package from the [https://launchpad.net/~team-gcc-arm-embedded/+archive/ubuntu/ppa ppa]:
The complete source code should be downloaded from the paparazzi software repository on Github. Make sure you have installed the <tt>paparazzi-dev</tt> package as described above. Whithout these you will not be able to compile the sourcecode.
sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
sudo apt-get update
sudo apt-get install gcc-arm-embedded


See the [https://github.com/paparazzi/paparazzi project page] at Github for more details.  From the directory of your choice type:
<div class="toccolours mw-collapsible mw-collapsed" style="width:800px">
git clone git://github.com/paparazzi/paparazzi.git
Previously there was a PPA by terry.guo that contained this toolchain under the package name ''gcc-arm-none-eabi''
or if you are behind a firewall with an http proxy available:
<div class="mw-collapsible-content">
git clone https://github.com/paparazzi/paparazzi.git
See https://launchpad.net/gcc-arm-embedded/+announcement/13824 for details on how to switch the newer
PPA and package.  
</div></div>


This will download all of the paparazzi sourcecode need for an autopilot to work into the directory <tt>paparazzi/</tt>
==== gcc-arm-none-eabi Debian toolchain ====


'''If this whole "Git" thing is new to you an you are curious, more options and information can be found on the [[git]] page.'''
Current Debian ('''jessie''') and Ubuntu (14.04 '''trusty''' and later) releases have the gcc-arm-none-eabi package in the official repositories ('''universe'''), and can be installed with:
sudo apt-get update
sudo apt-get install gcc-arm-none-eabi gdb-arm-none-eabi


== Launching the Software ==
=== ARM gcc-arm-embedded tarball ===
Another way is to download and unpack the tarball and add it to your PATH:


The first step is to compile. From the <tt>paparazzi</tt> directory (<tt>cd paparazzi</tt>), run
* Download gcc-arm-none-eabi-*-*-linux.tar.bz2 from [https://launchpad.net/gcc-arm-embedded/+download External Downloads] section of ARM gcc-arm-embedded project
* Unpack it to a directory of your choice
* Add the bin folder in to your PATH


  make
e.g.:
  cd ~
wget https://launchpad.net/gcc-arm-embedded/4.7/4.7-2013-q2-update/+download/gcc-arm-none-eabi-4_7-2013q2-20130614-linux.tar.bz2
sudo tar -vjxf gcc-arm-none-eabi-4_7-2013q2-20130614-linux.tar.bz2 -C /opt
rm -r gcc-arm-none-eabi-4_7-2013q2-20130614-linux.tar.bz2
exportline="PATH=$PATH:/opt/gcc-arm-none-eabi-4_7-2013q2/bin"
if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
source ~/.profile


You will have to run this command after each update of the source (<tt>git pull</tt> command).
The file .profile will be sourced in every bash after logging out and in again. Until then,
Launch the software from the <tt>paparazzi</tt> directory with
source ~/.profile
can be used for every bash individually.


./paparazzi
If you can not access your toolchain with PATH working, look a the [[Installation/Linux#Troubleshooting]].


From the [[Paparazzi_Center|Paparazzi Center]] interface, select the ''Microjet'' aircraft, select the ''sim'' target and ''Build'' it. Then ''Execute'' the ''Simulation'' session. The procedure is detailed in the [[Simulation]] page.
=== Old toolchain for Paparazzi v4.x and earlier ===


=== Quick Launch Icon ===
'''For Paparazzi v4.x''' and earlier you need to install the <tt>paparazzi-arm-multilib</tt> package. It has support for both ARM7 (i.e. Tiny,TWOG,YAPA autopilot boards) as well as STM32F1 (i.e. LISA boards).<br>
'''This toolchain does not properly support STM32F4 based autopilots!!'''


To create an icon on the desktop so you don’t have to manually type codes into the Terminal each time you want to start the Paparazzi Center follow these steps:
You can install it explicitly with:
sudo apt-get install paparazzi-arm-multilib


#Save [[Media:Paparazzi_logo.png|this image file]] to your /paparazzi folder
== Optional Packages ==
#Right click anywhere on the Ubuntu desktop and click Create Launcher.
#Enter the following in the fields provided:
#*Name: Paparazzi Center
#*Command: /home/YOUR_USER_NAME/paparazzi/paparazzi
#*Comment: Runs the Paparazzi Center
#*Then click the icon image in the top left on the dialog box and select the Paparazzi logo you just downloaded.
#Click the OK button and that’s it! Your icon should appear on the desktop and you are ready to go.


=== Agents ===
The packages <b>lpc21isp</b> and <b>openocd</b> are normally '''automatically installed''' as they are recommended packages of paparazzi-dev, '''if not''' you can manually install them via:
sudo apt-get install lpc21isp openocd


If ('''and only if''') you want to directly launch some Paparazzi agents (the ''Tools'' of the [[Paparazzi_Center|Paparazzi Center]]), without using the Paparazzi Center, you must have the Paparazzi source and home environment variables set correctly in your shell. These variables can be automatically set in your shell by adding the following lines to your .bashrc file:
<tt>lpc21isp</tt> is needed to serially flash the LPC2148 based autopilots (e.g. bootloader for tiny, twog, umarim), <tt>openocd</tt> is for flashing via JTAG (e.g. for Lisa boards) and debugging.
{{Box Code|~/.bashrc|
export PAPARAZZI_HOME<nowiki>=</nowiki>''your paparazzi software directory''
export PAPARAZZI_SRC<nowiki>=</nowiki>''your paparazzi software directory''
}}


=== env Variables ===
== Installing and running Paparazzi ==


If you wish to manually set the env variables (i.e. when compiling a backup copy of your code in a different folder) execute the following command from the folder you wish to set as your active paparazzi folder:
Please see [[Installation#Getting_the_Source_Code|Getting the Source Code on the general Installation page]] for details on downloading the Paparazzi source code, compiling and running it.
export PAPARAZZI_HOME=`pwd`;export PAPARAZZI_SRC=`pwd`
Verify that your variables are set correctly with the following command:
env | grep PAPARAZZI
which should return the following:
PAPARAZZI_HOME<nowiki>=</nowiki>''your paparazzi software directory''
PAPARAZZI_SRC<nowiki>=</nowiki>''your paparazzi software directory''


== Setting access rights for USB download ==
== Udev rules ==


This may be required to flash the Paparazzi-boards directly thru USB. For flashing details, see [[Compiling]].
Add the appropriate [[Udev]] rule (available in fhe file ''50-paparazzi.rules'') to the USB handler.  Simply copy as root <tt>conf/system/udev/rules/50-paparazzi.rules</tt> to <tt>/etc/udev/rules.d/</tt>, e.g in a terminal:


Default linux rights may not allow standard (non root) users to directly access the USB bus. You will need to make yourself a member of the plugdev "group" and then create a "rule", associated with that "group". <br>
cd <your paparazzi directory>
Make yourself a member of the ''plugdev'' group:
sudo cp conf/system/udev/rules/50-paparazzi.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules


sudo adduser <your login> plugdev
See the [[Udev]] page for more details.


Logout and login again. Then add the appropriate rule (available ine fhe file ''50-paparazzi.rules'') to the USB handler.  Simply copy as root <tt>$PAPARAZZI_HOME/conf/system/udev/rules/50-paparazzi.rules</tt> to <tt>/etc/udev/rules.d/</tt>
== Troubleshooting ==


sudo cp $PAPARAZZI_HOME/conf/system/udev/rules/50-paparazzi.rules /etc/udev/rules.d/
=== No access rights for USB devices ===


== Software Updates ==
Some Linux distributions, don't allow standard (non admin) users to directly access the USB bus by default. On recent Ubuntu/Debian versions the first/main user is already a member of the ''plugdev'' group which should be sufficient for most cases.<br>
Paparazzi is a very rapidly evolving project and as such you might want to update your software regularly.
If you have problems, make yourself a member of the ''plugdev'' and ''dialout'' groups:


Any new files you created will not be lost/overwritten when updating (like your own airframe file). Nevertheless, as with all things, backups are advised.
sudo adduser <your login> plugdev
If you modified source code, the best way is of course to use the version control system [[Git]] to commit your changes. Otherwise at least use the brute force method and save everything in another directory.
sudo adduser <your login> dialout


Update your software with care and caution, and always test the functionality on the ground and in the air as some updates will affect tuning parameters. You might need to update your airframe file as well. The compiler will usually complain if there is a problem, at which point you can look at the [[Airframe_Configuration|Airframe Configuration wiki page]] again, look on the [[Contact#Mailing_List|mailing list]] or some of the most recent airframe files on git to find the proper syntax. See the [[Compiling]] page for more help if needed.
Logout and login again.


That said, keeping your software up to date is fairly easy with Git.
=== arm-none-eabi-gcc: Command not found ===
Appeared on Debian Wheezy 7 (gcc-arm-none-eabi-4_8-2013q4 installed via tarball)<br/>
If this error occurs, maybe the [https://packages.debian.org/de/wheezy/ia32-libs ia32-libs] are missing.


To download and automatically merge any updated source files, run the following command from your Paparazzi directory
Enable multiarch and install ia32-libs:
  git pull
  dpkg --add-architecture i386
Please see the [[Git|Git wiki page]] for more details.
apt-get update
apt-get install ia32-libs


After any git update or source code modification the code can be recompiled from ''your paparazzi software directory'' with the following command:
=== arm-linux-gnueabi-gcc cross-compiler not found ===


  make
=== Ubuntu ===
  apt-get install gcc-arm-linux-gnueabi


The ''make'' command will only recompile portions of the software where changed have been detected. If it does not behave as expected you can deleted all compiled files and recompile from scratch with the following commands:
=== Debian ===
Starting with jessie, there were [https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=771496#41 some changes] to the way cross-compilers are set up. To make it work you will have to add armel architecture and pick up some crossbuild tools.


make clean
First edit your /etc/apt/sources.list and add the following line, to enable the emdebian repo:
  make
  deb http://emdebian.org/tools/debian/ jessie main


See the [[Compiling]] page for more info.
Run the following command in your terminal to add the keys for it
curl http://emdebian.org/tools/debian/emdebian-toolchain-archive.key | sudo apt-key add -


== Using the Live CD ==
Then you could add armel architecture and fetch the missing cross-compiler packages
dpkg --add-architecture armel
apt-get update
apt-get install crossbuild-essential-armel


There is a [[LiveCD]] available, but it dates back to 2008. It is still an easy way to get a first glimpse on Paparazzi.
You could find out more about cross-toolchains in jessie on debian [https://wiki.debian.org/CrossToolchains wiki page].


== From Scratch==
Note that some of your repos might not mirror embedded architectures, which would give you an error when you try to update the sources. In that case you will have to specify which architecture you do want from them by editing the corresponding entry in your sources.list file, in a way described [https://wiki.debian.org/Multiarch/HOWTO here]. Like in this example with the crunchbang repo you could specify it by adding [arch=amd64,i386] to the line, so you only enable amd64 and i386 architectures:
deb [arch=amd64,i386] http://packages.crunchbang.org/waldorf waldorf main


In very rare occasions one needs to install the tools used, third-party libraries used by Paparazzi all from scratch. Currently there are no 64 bit Linux repositories, that is a very good reason to install from scratch. Sometime one just wants to be able to use all the latest and greatest compilers, or source code of everything to improve something. Then there is no other way than to install from scratch. To help you out getting it all smoothly working [[install_paparazzi_and_everything_from_scratch | a special page is created just click here]]. If you do not understand what that all means, do not panic, then the information on that page is not important to you. Just pretend you never read this part of the Wiki. You are advised just to follow the regular step as described on the install page.
===arm-none-eabi-gdb: error with libncurses.so.5===
Appeared on Xubuntu 14.04 LTS (gcc-arm-none-eabi-4_8-2013q4 installed via tarball)<br/>
Terminal output: arm-none-eabi-gdb: error while loading shared libraries: libncurses.so.5: cannot open shared object file: No such file or directory


== Using 32Bit on 64Bit ==
If this error occurs, maybe [http://packages.ubuntu.com/search?keywords=lib32ncurses5 lib32ncurses5] is missing. <br/>
Found on [https://answers.launchpad.net/gcc-arm-embedded/+question/226680 launchpad q&a]


If you don't know what 64 bit (x86_64) means, then don't worry about this!
=== FTDI serial adapter not working on old Ubuntu version ===
As previously discussed, there are currently no 64 bit paparazzi pre-made deb packages available. You could opt to install from scratch as described here http://paparazzi.enac.fr/wiki/Install_paparazzi_and_everything_from_scratch
An temporary solution is to use an i386 installation instead. In rare circumstances however, this may be problematic (certain engineering software for example requires 64 bit kernels).
In these cases, a chroot is a good compromise, while avoiding the overhead of a virtual machine (and USB device problems which may occur).
Initial instructions are here for now: https://help.ubuntu.com/community/DebootstrapChroot
The command you use for the bootstrap needs to reflect your architecture - I used


  sudo debootstrap --variant=buildd --arch i386 lucid /var/chroot/lucid http://gb.archive.ubuntu.com/ubuntu/
On older Linux distributions (not needed for lucid and later), the Braille TTY driver interferes with FTDI USB Serial adapters. If somehow your FTDI serial adapter does not work, remove the package via:


The format for schroot config files has changed as of lucid however - here is mine:
sudo apt-get remove brltty


  $ cat /etc/schroot/chroot.d/lucid-i386
=== Code not starting on autopilot after changing gcc ===
  [lucid]
  description=Ubuntu 10.04 Lucid for i386
  directory=/var/chroot/lucid
  personality=linux32
  root-users=my_user
  type=directory
  users=my_user


Once you've installed the ubuntu minimal package, make sure you also enable the uni- and multiverse repos (the easiest way for me is to simply copy my host's /etc/apt/sources.lst to /var/chroot/lucid/etc/apt/sources.lst).
If you changed the toolchain (e.g. installed a new one for having FPU-Support for the F4), you need to run
Then follow the standard instructions above.  You may need to manually set the PAPARAZZI_HOME and PAPARAZZI_SRC environment variables. You will also have to set the DISPLAY environment variable to :0.0 like so:


  export DISPLAY=:0.0
make clean && make


Please note, this is more advanced than the standard paparazzi installation and therefore you may encounter strange problems.
in sw/ext in order to rebuild the libs. Otherwise the embedded code can behave strange (most likely not start)


[[Category:Software]] [[Category:User_Documentation]]
[[Category:Software]] [[Category:User_Documentation]] [[Category:Installation]]

Latest revision as of 09:55, 5 February 2020

Installation
Installation
Installation/BeagleBoneBlack
Installation/FromScratch
Installation/Linux
Installation/MacOSX
Installation/Windows10

This page only describes the installation of the prerequisite tools and dependencies on Debian/Ubuntu needed for Paparazzi.

See the general Installation page for how to download Paparazzi and launching it after you followed the instructions here.

Introduction

Paparazzi is very easily installed on any laptop or workstation running Ubuntu, Debian (or any of their derivatives).

The steps required to install the software needed to be able to let your UAS fly

Users of other Linux flavors than a recent Ubuntu or Debian and anyone needing manual control of each individual package can install them independently.

For the impatient

For Ubuntu add the paparazzi-uav ppa sudo add-apt-repository ppa:paparazzi-uav/ppa and install the paparazzi-dev package.

Since Paparazzi v5.0 the gcc-arm-embedded toolchain is recommended. Available as of Ubuntu 14.04, on older versions it can be installed via tarball.

Or just use the Quickstart for Ubuntu 12.04 LTS.

Installation video Tutorials

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Installation of dependencies

Ubuntu

Binary packages for Ubuntu are available for the i386, amd64 and armhf architectures.

Add the installation sources for the Paparazzi software packages. Run from a terminal: 

sudo add-apt-repository ppa:paparazzi-uav/ppa

Then update the systems package inventory and install the main Paparazzi software dependencies. This will take some time. 

sudo apt-get update 
sudo apt-get install paparazzi-dev

Debian

Binary packages for Debian are available for the i386 and amd64 architectures. armhf packages seem to be currently not supported by the OpenSUSE build service.

For Debian Wheezy (7.0), Jessie (8.0), Stretch (9.0) and Buster (10) packages are built using the Open Build Service (OBS) on OpenSUSE Build Service project home:flixr:paparazzi-uav

Install paparazzi-dev

First add the key: 

wget -q "http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_10/Release.key" -O- | sudo apt-key add -

Add the appropriate repo, depending on your Debian version to sources.list 

echo "deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_10/ ./" | tee -a /etc/apt/sources.list
echo "deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_9.0/ ./" | tee -a /etc/apt/sources.list
echo "deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_8.0/ ./" | tee -a /etc/apt/sources.list
echo "deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_7.0/ ./" | tee -a /etc/apt/sources.list

Update the systems package inventory and install the main Paparazzi software dependencies. 

sudo apt-get update 
sudo apt-get install paparazzi-dev

ARM embedded toolchain

For current Paparazzi versions (v5.0 and above) the gcc-arm-embedded toolchain is recommended, which also supports the STM32F4 with FPU (hardware floating point).

gcc-arm-none-eabi as Debian/Ubuntu package

This is the recommended method

Note that there are actually two different toolchains available!

Both toolchains should work for most use-cases (if you don't need C++ or nano specs), although the ARM gcc-arm-embedded toolchain is better tested.

gcc-arm-embedded toolchain

This is the recommended toolchain

On most Ubuntu versions the gcc-arm-embedded toolchain can be installed as a debian package from the ppa: 

sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
sudo apt-get update
sudo apt-get install gcc-arm-embedded

Previously there was a PPA by terry.guo that contained this toolchain under the package name gcc-arm-none-eabi

See https://launchpad.net/gcc-arm-embedded/+announcement/13824 for details on how to switch the newer PPA and package.

gcc-arm-none-eabi Debian toolchain

Current Debian (jessie) and Ubuntu (14.04 trusty and later) releases have the gcc-arm-none-eabi package in the official repositories (universe), and can be installed with: 

sudo apt-get update
sudo apt-get install gcc-arm-none-eabi gdb-arm-none-eabi

ARM gcc-arm-embedded tarball

Another way is to download and unpack the tarball and add it to your PATH:

  • Download gcc-arm-none-eabi-*-*-linux.tar.bz2 from External Downloads section of ARM gcc-arm-embedded project
  • Unpack it to a directory of your choice
  • Add the bin folder in to your PATH

e.g.: 

cd ~
wget https://launchpad.net/gcc-arm-embedded/4.7/4.7-2013-q2-update/+download/gcc-arm-none-eabi-4_7-2013q2-20130614-linux.tar.bz2
sudo tar -vjxf gcc-arm-none-eabi-4_7-2013q2-20130614-linux.tar.bz2 -C /opt
rm -r gcc-arm-none-eabi-4_7-2013q2-20130614-linux.tar.bz2
exportline="PATH=$PATH:/opt/gcc-arm-none-eabi-4_7-2013q2/bin"
if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
source ~/.profile

The file .profile will be sourced in every bash after logging out and in again. Until then, 

source ~/.profile

can be used for every bash individually.

If you can not access your toolchain with PATH working, look a the Installation/Linux#Troubleshooting.

Old toolchain for Paparazzi v4.x and earlier

For Paparazzi v4.x and earlier you need to install the paparazzi-arm-multilib package. It has support for both ARM7 (i.e. Tiny,TWOG,YAPA autopilot boards) as well as STM32F1 (i.e. LISA boards).
This toolchain does not properly support STM32F4 based autopilots!!

You can install it explicitly with: 

sudo apt-get install paparazzi-arm-multilib

Optional Packages

The packages lpc21isp and openocd are normally automatically installed as they are recommended packages of paparazzi-dev, if not you can manually install them via: 

sudo apt-get install lpc21isp openocd

lpc21isp is needed to serially flash the LPC2148 based autopilots (e.g. bootloader for tiny, twog, umarim), openocd is for flashing via JTAG (e.g. for Lisa boards) and debugging.

Installing and running Paparazzi

Please see Getting the Source Code on the general Installation page for details on downloading the Paparazzi source code, compiling and running it.

Udev rules

Add the appropriate Udev rule (available in fhe file 50-paparazzi.rules) to the USB handler. Simply copy as root conf/system/udev/rules/50-paparazzi.rules to /etc/udev/rules.d/, e.g in a terminal: 

cd <your paparazzi directory>
sudo cp conf/system/udev/rules/50-paparazzi.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules

See the Udev page for more details.

Troubleshooting

No access rights for USB devices

Some Linux distributions, don't allow standard (non admin) users to directly access the USB bus by default. On recent Ubuntu/Debian versions the first/main user is already a member of the plugdev group which should be sufficient for most cases.
If you have problems, make yourself a member of the plugdev and dialout groups: 

sudo adduser <your login> plugdev
sudo adduser <your login> dialout

Logout and login again.

arm-none-eabi-gcc: Command not found

Appeared on Debian Wheezy 7 (gcc-arm-none-eabi-4_8-2013q4 installed via tarball)
If this error occurs, maybe the ia32-libs are missing.

Enable multiarch and install ia32-libs: 

dpkg --add-architecture i386
apt-get update
apt-get install ia32-libs

arm-linux-gnueabi-gcc cross-compiler not found

Ubuntu

apt-get install gcc-arm-linux-gnueabi

Debian

Starting with jessie, there were some changes to the way cross-compilers are set up. To make it work you will have to add armel architecture and pick up some crossbuild tools.

First edit your /etc/apt/sources.list and add the following line, to enable the emdebian repo: 

deb http://emdebian.org/tools/debian/ jessie main

Run the following command in your terminal to add the keys for it 

curl http://emdebian.org/tools/debian/emdebian-toolchain-archive.key | sudo apt-key add -

Then you could add armel architecture and fetch the missing cross-compiler packages 

dpkg --add-architecture armel
apt-get update
apt-get install crossbuild-essential-armel

You could find out more about cross-toolchains in jessie on debian wiki page.

Note that some of your repos might not mirror embedded architectures, which would give you an error when you try to update the sources. In that case you will have to specify which architecture you do want from them by editing the corresponding entry in your sources.list file, in a way described here. Like in this example with the crunchbang repo you could specify it by adding [arch=amd64,i386] to the line, so you only enable amd64 and i386 architectures: 

deb [arch=amd64,i386] http://packages.crunchbang.org/waldorf waldorf main

arm-none-eabi-gdb: error with libncurses.so.5

Appeared on Xubuntu 14.04 LTS (gcc-arm-none-eabi-4_8-2013q4 installed via tarball)
Terminal output: arm-none-eabi-gdb: error while loading shared libraries: libncurses.so.5: cannot open shared object file: No such file or directory

If this error occurs, maybe lib32ncurses5 is missing.
Found on launchpad q&a

FTDI serial adapter not working on old Ubuntu version

On older Linux distributions (not needed for lucid and later), the Braille TTY driver interferes with FTDI USB Serial adapters. If somehow your FTDI serial adapter does not work, remove the package via: 

sudo apt-get remove brltty

Code not starting on autopilot after changing gcc

If you changed the toolchain (e.g. installed a new one for having FPU-Support for the F4), you need to run 

make clean && make

in sw/ext in order to rebuild the libs. Otherwise the embedded code can behave strange (most likely not start)

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