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

• Plot the value of a message field.

start '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 temetry 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/

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

 LD_LIBRARY_PATH=/opt/jsbsim/lib ./var/BOOZ2_A1/sim/simsitl --fghost 127.0.0.1

• Save you session