NPS
Booz contains a sensors model and can use Jsbsim to allow arbitrarily complex flight dynamic models.
Installation
Install Paparazzi from source.
JSBSim
You can either install the paparazzi jsbsim package For Natty and later distros (only works for i386. For amd64, it will install, but give you compile errors, try manual install as below):
sudo apt-get install paparazzi-jsbsim
For Maverick and earlier distros
sudo apt-get install jsbsim
or Compile JSBSIM from the latest source
cvs -z3 -d:pserver:anonymous@jsbsim.cvs.sourceforge.net:/cvsroot/jsbsim co -P JSBSim cd JSBSim ./autogen.sh ./configure --enable-libraries --enable-shared --prefix=/opt/jsbsim make sudo make install
Remark: I had to download the version dated 2011-07-15, since GetPQRDot() was removed from jsbsim some time ago (Thanks to Dirk Dokter for pointig out this). So you may want to try:
cvs -z3 -d:pserver:anonymous@jsbsim.cvs.sourceforge.net:/cvsroot/jsbsim co -D20110715 -P JSBSim
Here is an optional patch to silent warnings.
Compilation
- Compile paparazzi
cd paparazzi make
- Compile the vehicle
make AIRCRAFT=BOOZ2_A1 clean_ac sim
Start Simulation
- Start paparazzi_center if you want click to start programs
./paparazzi
- Start messages to monitor the middleware activity ( from the tool menu of paparazzi center) or with
./sw/ground_segment/tmtc/messages
- Start the sim
./var/BOOZ2_A1/sim/simsitl
You should now see activity in the "messages" window
- Plot the value of a message field.
start 'plotter' (Real-time 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
- Use the datalink to change the tlemetry mode
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
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/
sudo ln -s $PAPARAZZI_SRC/conf/simulator/flightgear/ /usr/share/games/FlightGear/Models/Aircraft/paparazzi
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
./var/BOOZ2_A1/sim/simsitl --fg_host 127.0.0.1
- Save you session
Troubleshooting
- If you get an error like "JSBSim failed to open the configuration file: (null)/conf/simulator/jsbsim/aircraft/BOOZ2_A1.xml", you need to set your $PAPARAZZI_SRC and $PAPARAZZI_HOME environment variables. Add the following to your .bashrc, change paths according to where you put Paparazzi. Open a new terminal and launch the sim again.
export PAPARAZZI_SRC=~/paparazzi export PAPARAZZI_HOME=~/paparazzi
- If you did not install the jsbsim package your JSBSim installation under /opt/jsbsim will be used and you will have to set your library path (either in your shell startup file or when running the sim on the command line), e.g.:
LD_LIBRARY_PATH=/opt/jsbsim/lib ./var/BOOZ2_A1/sim/simsitl --fg_host 127.0.0.1
Tunning the attitude control loop
Here we are going to use the simulator to demonstrate a way of tunning the attitude control loop.
- Restart your previous session
- 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. 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.
- In "Settings", go to the "Att Loop" tab
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.
Something else
- try starting flightgear with
fgfs --fdm=null --native-gui=socket,in,30,,5501,udp --prop:/sim/model/path=Models/Aircraft/paparazzi/simple_bipe.xml
an the sim with
./var/BOOZ2_A1/sim/simsitl --fg_host 127.0.0.1 --rc_script 1
use a joystick
You can use a joystick (or connect your RC transmitter as a joystick) to control the quad in the simulator.
./var/BOOZ2_A1/sim/simsitl --fg_host 127.0.0.1 --js_dev /dev/input/js0
Depending on your joystick it might be mapped to some different device (check with dmesg) or have a look in /dev/input/by-id/<your-joystick>