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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].
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).


At a high-level here are the steps required to install Paparazzi:
The steps required to install the software needed to be able to let your UAS fly
<ul>
<ul>
<li>Install a current Linux distribution (Ubuntu Maverick is recommended at the moment).
<li>[[Installation/Linux#Installation_of_dependencies|Install the basic Paparazzi dependencies]] and the [[Installation/Linux#ARM_embedded_toolchain|ARM cross compiling toolchain.]]
<li>The Paparazzi packages are installed using Synaptic Package Manager.
<li>[[Installation#Getting_the_Source_Code|Download the source code from the source repository.]]
<li>Install git. Don't worry if it's already installed.  
<li>Allow access to your PC hardware connection by adding appropriate [[Udev]] rules.
<li>Download the sources from the git repository.
<li>[[Installation#Launching_the_Software|Compile the binaries from the sources and launch the software.]]
<li>Allow access to the ports 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/10-paparazzi.rules /etc/udev/rules.d/)
<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]].
 
===For the impatient===


=== Operating System ===
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.


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 its dependencies. The [http://paparazzi.enac.fr/debian repository] hosted at ENAC holds their latest version.
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]].


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, Mac 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.
Or just use the [[Installation#Quickstart_on_Ubuntu_12.04|Quickstart for Ubuntu 12.04 LTS]].


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.
== Installation video Tutorials ==


=== Compilers and Handlers ===
{{#ev:youtubehd|SshFJrBuku8}} {{#ev:youtubehd|eW0PCSjrP78}}


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.
== Installation of dependencies ==


=== Source Code ===
=== Ubuntu ===
'''Binary packages for Ubuntu are available for the ''i386'', ''amd64'' and ''armhf'' architectures.'''


The Paparazzi source code is hosted by [https://github.com/paparazzi/paparazzi Github]. It is downloaded using [[git]].
Add the installation sources for the Paparazzi software packages. Run from a terminal:
sudo add-apt-repository ppa:paparazzi-uav/ppa


== Installation of Compilers and Handlers ==
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


=== Using Synaptic Package Manager ===
=== Debian ===
* Launch ''Synaptic Package Manager'' (Menu '''System/Administration''')
'''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.'''
* 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> maverick main</tt><br>For Ubuntu Maverik/10.10. For other Ubuntu versions adapt as described below in the command line section.
* Search for <tt>paparazzi-dev</tt>, and <tt>paparazzi-arm7</tt> packages (use the ''Search'' button)
* Mark them for installation (right-click on package names)
* Left-click on ''Apply''


=== From 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]


If the Synaptic Package Manager doesn't work for you, you can alternatively use the command line:
[http://software.opensuse.org/download/package?project=home:flixr:paparazzi-uav&package=paparazzi-dev Install paparazzi-dev]


For the sources file (sources.list) you only add the line required for your version. Linux names their versions.  
First add the key:
wget -q "http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_10/Release.key" -O- | sudo apt-key add -


Just add the following lines to your repository list (<b>/etc/apt/sources.list</b>) and then
Add the appropriate repo, depending on your Debian version to sources.list
uncomment the line relevant to your operating system (e.g. one of etch, gutsy or hardy):
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


Note: Because of the sources.list file permissions maybe you will need to edit it with root access. In Terminal write this:
Update the systems package inventory and install the main Paparazzi software dependencies.
sudo apt-get update
sudo apt-get install paparazzi-dev


gksudo gedit /etc/apt/sources.list
== ARM embedded toolchain ==


{{Box Code|/etc/apt/sources.list|
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).
# 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/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
}}


Then, update your sources and install the dependencies needed for recompiling from the source (<b>dev</b>), and the cross-compilers (<b>arm7</b> or <b>stm32</b>) :
=== gcc-arm-none-eabi as Debian/Ubuntu package ===


For ARM7 (i.e. Tiny or TWOG boards) :
'''This is the recommended method'''
sudo apt-get update
sudo apt-get install paparazzi-dev paparazzi-arm7


For STM32 (i.e. Lisa boards) :
Note that there are actually two '''different''' toolchains available!
sudo apt-get update
* [https://launchpad.net/gcc-arm-embedded/ ARM gcc-arm-embedded toolchain] with Debian package name ''gcc-arm-embedded''
sudo apt-get install paparazzi-dev paparazzi-stm32
** 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


Note: The ivy-python package now among the dependencies of paparazzi-dev is also available in the normal paparazzi repository. [https://launchpad.net/~uce-launchpad/+archive/ppa Allen Ibara] might have some newer versions in his PPA but you should not need them.
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.


==== Optional/Obsolete Packages ====
==== gcc-arm-embedded toolchain ====
Users of the newer Lisa/L or Lisa/S boards will need the <b>paparazzi-stm32</b> package.


Users of older AVR based boards will also need the <b>paparazzi-avr</b> package.
'''This is the recommended toolchain'''


==== Older Ubuntu Versions ====
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]:
sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
sudo apt-get update
sudo apt-get install gcc-arm-embedded


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:
<div class="toccolours mw-collapsible mw-collapsed" style="width:800px">
Previously there was a PPA by terry.guo that contained this toolchain under the package name ''gcc-arm-none-eabi''
<div class="mw-collapsible-content">
See https://launchpad.net/gcc-arm-embedded/+announcement/13824 for details on how to switch the newer
PPA and package.
</div></div>


sudo apt-get remove brltty
==== gcc-arm-none-eabi Debian toolchain ====


=== Manual Installation of Individual Packages ===
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:
Users of other Linux flavors than a recent Ubuntu or anyone needing manual control of each individual package can [[Manual_Installation|install them independently]].
sudo apt-get update
sudo apt-get install gcc-arm-none-eabi gdb-arm-none-eabi


== Downloading the Source Code from Github ==
=== ARM gcc-arm-embedded tarball ===
If you have not installed git yet, use the Synaptic Package Manager or the command line:
Another way is to download and unpack the tarball and add it to your PATH:
sudo apt-get install git
The complete source code should be downloaded from the paparazzi software repository on github (first make sure you have installed the <tt>paparazzi-dev</tt> package as described above).


See the [https://github.com/paparazzi/paparazzi project page] at Github for more details.  From the directory of your choice type:
* 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
git clone git://github.com/paparazzi/paparazzi.git
* Unpack it to a directory of your choice
or if you are behind a firewall with an http proxy available:
* Add the bin folder in to your PATH
git clone https://github.com/paparazzi/paparazzi.git


This will download all of the code and install it into <tt>paparazzi/</tt>
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


'''For more options and info see the [[git]] page.'''
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.


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


The first step is to compile. From the <tt>paparazzi</tt> directory (<tt>cd paparazzi</tt>), run
=== Old toolchain for Paparazzi v4.x and earlier ===


make
'''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!!'''


You will have to run this command after each update of the source (<tt>git pull</tt> command).
You can install it explicitly with:
Launch the software from the <tt>paparazzi</tt> directory with
sudo apt-get install paparazzi-arm-multilib


./paparazzi
== Optional Packages ==


From the [[Paparazzi_Center|Paparazzi Center]] interface, select the ''MJ5'' aircraft, select the ''sim'' target and ''Build'' it. Then ''Execute'' the ''Simulation'' session. The procedure is detailed in the [[Simulation]] page.
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


=== Quick Launch Icon ===
<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.


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 GCS follow these steps:
== Installing and running Paparazzi ==


#Save [[Media:Paparazzi_logo.png|this image file]] to your /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.
#Right click anywhere on the Ubuntu desktop and click Create Launcher.
#Enter the following in the fields provided:
#*Name: Paparazzi GCS
#*Command: /home/YOUR_USER_NAME/paparazzi/paparazzi
#*Comment: Runs the Paparazzi GCS
#*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 ===
== Udev rules ==


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:
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:
{{Box Code|~/.bashrc|
  export PAPARAZZI_HOME<nowiki>=</nowiki>''your paparazzi software directory''
export PAPARAZZI_SRC<nowiki>=</nowiki>''your paparazzi software directory''
}}


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


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:
See the [[Udev]] page for more details.
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 ==
== Troubleshooting ==


This may be required to flash the Paparazzi-boards directly thru USB. For flashing details, see [[Compiling]].
=== No access rights for USB devices ===


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>
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>
Make yourself a member of the ''plugdev'' group:
If you have problems, make yourself a member of the ''plugdev'' and ''dialout'' groups:


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


Logout and login again. Then add the appropriate rule (available ine fhe file ''10-paparazzi.rules'') to the USB handler.  Simply copy as root <tt>$PAPARAZZI_HOME/conf/system/udev/rules/10-paparazzi.rules</tt> to <tt>/etc/udev/rules.d/</tt>
Logout and login again.


sudo cp $PAPARAZZI_HOME/conf/system/udev/rules/10-paparazzi.rules /etc/udev/rules.d/
=== 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.


== Software Updates ==
Enable multiarch and install ia32-libs:
Paparazzi is a very rapidly evolving project and as such, you will find that variables and functions are frequently added, changed, or removed. 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. Your airframe file will not be updated by the Git system and therefore any new or modified variable names will need to be added manually.  The compiler will usually identify the problem variables at which point you can look at some of the most recent airframe files on git to find the proper syntax.  See the [[Compiling]] page for more help if needed.
  dpkg --add-architecture i386
<br>
  apt-get update
That said, keeping your software up to date is easy with the git system. The system will compare all source code files with the server and update any that are needed, automatically merging any minor changes that you have incorporated along the way.
  apt-get install ia32-libs


To download and automatically merge any updated source files, run the following command from your Paparazzi directory
=== arm-linux-gnueabi-gcc cross-compiler not found ===
git pull


After any git update or source code modification the code can be recompiled from ''your paparazzi software directory'' with the following command:
=== Ubuntu ===
apt-get install gcc-arm-linux-gnueabi


make
=== 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.


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:
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


make clean
Run the following command in your terminal to add the keys for it
  make
  curl http://emdebian.org/tools/debian/emdebian-toolchain-archive.key | sudo apt-key add -


See the [[Compiling]] page for more info.
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


To update your Linux distribution as well as any dependencies of Paparazzi (seldom necessary), run the following:
You could find out more about cross-toolchains in jessie on debian [https://wiki.debian.org/CrossToolchains wiki page].


sudo apt-get update
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:
  sudo apt-get upgrade
  deb [arch=amd64,i386] http://packages.crunchbang.org/waldorf waldorf main


== Using the Live CD ==
===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


There is a [[LiveCD]] available, but it dates back to 2008. It is still an easy way to get a first glimpse on Paparazzi.
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]


== From Scratch==
=== FTDI serial adapter not working on old Ubuntu version ===


In very rare occasions one needs to install the tools used, third-party libraries used by Paparazzi all from scratch. There are are the moment no 64Bit 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.
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:


== 64 Bit ==
  sudo apt-get remove brltty
 
If you don't know what 64 bit (x86_64) means, then don't worry about this!
As previously discussed, there are currently no 64 bit paparazzi versions available.
The easy 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/


The format for schroot config files has changed as of lucid however - here is mine:
=== Code not starting on autopilot after changing gcc ===


  $ cat /etc/schroot/chroot.d/lucid-i386
If you changed the toolchain (e.g. installed a new one for having FPU-Support for the F4), you need to run
  [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).
make clean && make
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
in sw/ext in order to rebuild the libs. Otherwise the embedded code can behave strange (most likely not start)


Please note, this is more advanced than the standard paparazzi installation and therefore you may encounter strange problems.
[[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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