Installation/Linux
Introduction
Paparazzi is very easily installed on any laptop or workstation running the Ubuntu Linux OS or virtually any Debian based Linux.
The steps required to install the software needed to be able to let your UAS fly
- Install a recent Ubuntu Linux operating system
- The basic Paparazzi tools installed via Synaptic Package Manager.
- Download the source code from the source repository.
- Allow access to your PC hardware connection by copying the rules file
- Compile the binaries from the sources (cd paparazzi && make)
That's all.
Operating System
Paparazzi is very easily installed on any laptop or workstation running the Ubuntu Linux OS or virtually any Debian based Linux. Paparazzi is packaged for Debian as well as all of it's dependencies. The repository hosted at ENAC holds their latest version.
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 virtual machines 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.
Compilers and Handlers
The typical installation contains all of the necessary C and OCaml compilers as well as some XML and 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.
Source Code
The Paparazzi source code is hosted by Github. It is downloaded using git.
Installation of Compilers and Handlers
For the impatient:
- Add paparazzi the paparazzi-uav ppa for Ubuntu for Ubuntu: ppa:paparazzi-uav/ppa
or for Debian: deb http://paparazzi.enac.fr/debian squezze main - Install: paparazzi-dev and paparazzi-arm-multilib
Adding the APT repository
For any Ubuntu version run from the command line:
sudo add-apt-repository ppa:paparazzi-uav/ppa
Alternate Ubuntu repository and Debian
The ubuntu repository at paparazzi.enac.fr/ubuntu contains some older packages and can be used instead of the ppa.
For the sources file (sources.list) you only add the line required for your version. Linux names their versions.
Just add the following lines to your repository list (/etc/apt/sources.list) and then uncomment the line relevant to your operating system (e.g. squeeze or natty):
Note: Because of the sources.list file permissions maybe you will need to edit it with root access. In Terminal write this:
gksudo gedit /etc/apt/sources.list
| File: /etc/apt/sources.list |
# Uncomment just _one_ of the following lines - depending on your OS version # deb http://paparazzi.enac.fr/debian etch main # deb http://paparazzi.enac.fr/debian lenny main # deb http://paparazzi.enac.fr/debian squeeze main # deb http://paparazzi.enac.fr/ubuntu lucid main # deb http://paparazzi.enac.fr/ubuntu maverick main # deb http://paparazzi.enac.fr/ubuntu natty main # deb http://paparazzi.enac.fr/ubuntu oneiric main |
Installing the packages
Update your sources and install the dependencies needed for recompiling from the source (dev), and the cross-compiler toolchain arm-multilib:
sudo apt-get update sudo apt-get install paparazzi-dev paparazzi-arm-multilib
The paparazzi-arm-multilib package provides support for both ARM7 (i.e. Tiny or TWOG boards) as well as STM32 (i.e. Lisa boards).
Using Ubuntu Software Center
For Ubuntu Oneiric (11.10)
- Launch Software Sources (Red Wrench and gear icon -> System section)
- Search for paparazzi-dev and paparazzi-arm-multilib packages and click on install.
Using Synaptic Package Manager
Note: The Synaptic Package Manager is not installed by default anymore under Ubuntu Oneiric (11.10). Either use the Software Center, command line or install Synaptic again.
- Launch Synaptic Package Manager (Menu System/Administration)
- Click Reload to update your sources.
- Search for paparazzi-dev and paparazzi-arm-multilib packages (use the Search button)
- Mark them for installation (right-click on package names)
- Left-click on Apply
Optional Packages
sudo apt-get install lpc21isp openocd
The packages lpc21isp and openocd are normally automatically installed as they are recommended packages of paparazzi-dev, if not you can manually install them. 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.
Obsolete Packages
These packages are in the paparazzi.enac.fr/ubuntu (or debian) repository and unmaintained, but still might be of some use...
- paparazzi-avr Users of the older AVR based boards will need this.
- paparazzi-arm7 To use the old gcc 3.4.4 for ARM7, superseded by paparazzi-arm-multilib. To use paparazzi-arm7 remove paparazzi-arm-multilib.
- paparazzi-stm32 Can be used for the Lisa autopilots, superseded by paparazzi-arm-multilib. To use paparazzi-stm32 remove paparazzi-arm-multilib.
Older Ubuntu Versions
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
Manual Installation of Individual Packages
Users of other Linux flavors than a recent Ubuntu or Debian and anyone needing manual control of each individual package can install them independently.
Downloading the Source Code
The complete source code should be downloaded from the paparazzi software repository on Github. Make sure you have installed the paparazzi-dev package as described above. Without these you will not be able to compile the sourcecode.
Please see Installation#Downloading_the_Source_Code for details.
Launching the Software
Please see Installation#Launching_the_Software for details.
Quick Launch Icon
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 Paparazzi Center follow these steps:
- Save this image file to your /paparazzi folder
- Right click anywhere on the Ubuntu desktop and click Create Launcher.
- Enter the following in the fields provided:
- Name: Paparazzi Center
- Command: /home/YOUR_USER_NAME/paparazzi/paparazzi
- Comment: Runs the Paparazzi Center
- 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
Please see Installation#Agents for details.
env Variables
Please see Installation#env_Variables for details.
Setting access rights for USB download
This may be required to flash the Paparazzi-boards directly thru USB. For flashing details, see Compiling.
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".
Make yourself a member of the plugdev group:
sudo adduser <your login> plugdev
Logout and login again. Then add the appropriate 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/
Software Updates
Please see Installation#Software_Updates for details.
Using 32Bit on 64Bit
As there are now 64bit packages available this should not be needed anymore, nevertheless...
An temporary 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:
$ cat /etc/schroot/chroot.d/lucid-i386 [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). 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
Please note, this is more advanced than the standard paparazzi installation and therefore you may encounter strange problems.