Booz

Overview

<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 filterLink 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

• Extract a copy of paparazzi3 svn

 svn co svn://svn.savannah.nongnu.org/paparazzi/paparazzi3/trunk paparazzi3

• Install all required dependancies

apt-get install paparazzi-dev

• Compile JSBSIM

 cvs co :pserver:anonymous@jsbsim.cvs.sourceforge.net:/cvsroot/jsbsim
 cd JSBSim
 ./configure --enable-maintainer-mode --enable-compile-warnings --enable-libraries --enable-shared --prefix=/opt/jsbsim
 make
 sudo make install

here is a patch to silent warnings

• Compile paparazzi

 cd paparazzi3/trunk
 make

• Compile the vehicle

 make AIRCRAFT=BOOZ2_A1 clean_ac sim

• Start paparazzi_center if you want click to start programs

./paparazzi

• Start messages to watch the middleware activity ( from the tool menu of paparazzi center) or with

./sw/ground_segment/tmtc/messages 

• Start the sim

LD_LIBRARY_PATH=/opt/jsbsim/lib ./var/BOOZ2_A1/sim/simsitl