Installation/Linux
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
- Install the basic Paparazzi dependencies and the ARM cross compiling toolchain.
- Download the source code from the source repository.
- Allow access to your PC hardware connection by adding appropriate Udev rules.
- Compile the binaries from the sources (cd paparazzi && make)
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. You can just unpack the tarball and add the bin directory to your PATH.
Installation of dependencies
Ubuntu
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
For Debian Squeeze (6.0) and Wheezy (7.0) packages are built using the Open Build Service (OBS) on OpenSUSE Build Service project home:flixr:paparazzi-uav
First add the key:
wget -q "http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_7.0/Release.key" -O- | sudo apt-key add -
Add the following deb line to your sources.list
| File: /etc/apt/sources.list |
# Uncomment just _one_ of the following lines - depending on your OS version #deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_6.0/ ./ deb http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_7.0/ ./ |
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
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).
The most common way to install the ARM cross compiling toolchain is to download the tarball, unpack it and add it to your PATH:
cd ~ wget https://launchpad.net/gcc-arm-embedded/4.7/4.7-2013-q3-update/+download/gcc-arm-none-eabi-4_7-2013q3-20130916-linux.tar.bz2 tar -vjxf gcc-arm-none-eabi-4_7-2013q3-20130916-linux.tar.bz2 exportline="export PATH=$HOME/gcc-arm-none-eabi-4_7-2013q3/bin:\$PATH" if grep -Fxq "$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.
gcc-arm-none-eabi as Ubuntu package
On some Ubuntu versions (currently only lucid, precise and raring) the gcc-arm-embedded toolchain can be installed as a debian package from the ppa:
sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded sudo apt-get update sudo apt-get install gcc-arm-none-eabi
NOTE: For newer Debian (Ubuntu 13.10 and Mint 16) you will need to edit the sources list before you do the apt-get update. Details why [here]
vi /etc/apt/sources.list.d/terry_guo-gcc-arm-embedded-saucy.list
The contents should read 1 line like this after the edit:
deb http://ppa.launchpad.net/terry.guo/gcc-arm-embedded/ubuntu raring main
Then run the remaining two commands:
sudo apt-get update sudo apt-get install gcc-arm-none-eabi
Old toolchain for Paparazzi v4.x and earlier
For Paparazzi v4.x and earlier you need to install the paparazzi-arm-multilib package. It support for both ARM7 (i.e. Tiny,TWOG,YAPA autopilot boards) as well as STM32 (i.e. LISA boards).
Since it is recommended by the paparazzi-dev package, it is usually automatically installed. You can also 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/
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.
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