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cleaning for 3.1 release
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Pascal Brisset
@@ -1,5 +1,5 @@
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# Paparazzi $Id$
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# Copyright (C) 2003-2005 Pascal Brisset Antoine Drouin
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# Copyright (C) 2003-2006 Pascal Brisset Antoine Drouin
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#
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# This file is part of paparazzi.
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#
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@@ -24,185 +24,85 @@ Intro
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Paparazzi is an attempt to develop a cheap fixed wing UAV (Unmanned Air
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Vehicle). As of today we have successfully flown autonomously several small
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electro powered fixed wing aircraft: the Twinstar and the Microjet of
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Multiplex.
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electro powered fixed wing aircraft (Twinstar, Microjet, ...).
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Up to date informations are available from the website
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Up to date informations are available from the websites
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www.nongnu.org/paparazzi
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www.recherche.enac.fr/paparazzi
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and from the mailing list.
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and from the mailing list and the IRC channem. Documentation is edited in
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the wiki
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www.recherche.enac.fr/paparazzi/doc
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Directories description:
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-----------------------
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conf: the configuration directory (airframe, radio, ... descriptions). YOU HAVE
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TO EDIT THERE the Makefile.local file
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conf: the configuration directory (airframe, radio, ... descriptions).
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data: where to put read-only data (e.g. maps and terrain files)
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data: where to put read-only data (e.g. maps and terrain elevation files)
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doc: the paparazzi documentation.
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hw: hardware definitions (electronic schemas, PCBs, ...)
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hw: hardware (electronic schemas, PCBs, ...)
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sw: software (onboard, ground station, simulation, ...)
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var: products of compilation, cache for the map tiles, ...
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debian: Debian packaging control files
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Required Software
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-----------------
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- AVR micro-controller development environnment (avr-gcc, uisp, avr-libc)
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- OCaml (ocaml.org), xml-light library (http://tech.motion-twin.com/xmllight)
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- gcc, GTK2, Glib2, libgnomecanvas, libxml2
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- AVR or ARM7 micro-controller development environnment (gcc, loader, libc, binutils)
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- ...
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For Debian users: Required packages are available at
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http://www.recherche.enac.fr/paparazzi/debian
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Installation of the meta-package "paparazzi" will install everything
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needed (if something is missing, please ask)
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Installation of the meta-package "paparazzi-dev" will install everything
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needed to compile this project (if something is missing, please ask)
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Compilation
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-----------
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0) Configuration. Default PAPARAZZI_HOME is $(HOME)/paparazzi. You
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can change it by setting an environment variable
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1) "make" in the top directory
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2) Set the PAPARAZZI_SRC environment variable to the top directory
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(default is /usr/share/paparazzi)
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2) "make demo" to run a demo (c.f. www.recherche.enac.fr/paparazzi/doc/moin.cgi/GettingStarted/Simulation)
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2) "make init" creates a directory $PAPARAZZI_HOME for your own files.
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Configure there the conf/conf.xml
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3) "make AIRCRAFT=<name> <target>.compile" compiles the airborne code for the specified target and aircraft
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3) "make ac AIRCRAFT=<name>" compiles everything for the specified
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aircraft (default is twinstar2 for which conf files are provided) and
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set the files in $PAPARAZZI_HOME/var/<name>
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4) "make AIRCRAFT=<name> sim" compiles the simulator for the specified aircraft.
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5) "make clean_ac AIRCRAFT=<name>" cleans files for the specified aircraft.
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6) $PAPARAZZI_HOME/var/<name>/sim/simsitl.out runs the soft simulator.
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5) "make AIRCRAFT=<name> clean_ac" cleans files for the specified aircraft.
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Uploading of the embedded software
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----------------------------------
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1) Power the flight controller board. Plug the pc-link to the board
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and to the host parallel port.
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1) Power the flight controller board. Plug the pc-link to the board.
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2) Upload with
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make upload_fbw # Fly by wire
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make upload_ap # Autopilot
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make AIRCRAFT=<name> fbw.upload # Fly by wire
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make AIRCRAFT=<name> ap.upload # Autopilot
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Important notes:
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Important notes for bi-microcontroller avr boards:
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- The pclink must be switched accordingly with the target
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- The "fly by wire" controller cannot be uploaded when the
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"autopilot" controller is running. They cannot independently be
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modified; then an upload of the fly by wire usually requires
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make erase_ap
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make upload_fbw
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make upload_ap
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make AIRCRAFT=<name> ap.erase
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make AIRCRAFT=<name> fbw.upload
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make AIRCRAFT=<name> ap.upload
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Running the ground segment monitoring
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-------------------------------------
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1) The transmitter must be plugged to the flight controller and both must
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be powered.
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2) The ground modem must be powered and plugged to the antenna and
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to the host (trough a serial port)
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1) "sw/supervision/paparazzi.pl" runs the ground control station supervision
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3) Launch the supervision
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sw/supervision/paparazzi.pl
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4) Launch "receive", "cockpit", "map", ...
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Log replay
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----------
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1) Run the supervision
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sw/supervision/paparazzi.pl
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2) Launch "play", "cockpit", "map", ...
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Software in the loop simulator
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------------------------------
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This simulator allows to run the stabilization and navigation controllers
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and play with the ground control station.
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0) Use the conf.xml and ground_segment.xml examples for the configuration.
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Recompile everything to be sure you run what you want ("make clean; make" in
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the top directory). The mission takes place in Braunschweig, Germany
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(flight competion of EMAV'04).
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1) Run the "control panel" (sw/supervision/paparazzi.pl)
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This window helps to launch the different components.
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2) Launch the "cockpit" to display flight parameters
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3) Launch "sim" (aircraft simulator)
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You get two windows standing for
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- The aircraft
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- The radio-controller (RC, displayed as one slider for each channel,
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even if some of them are buttons on the real RC)
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4) "Boot" the aircraft (button in the aircraft window)
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The cockpit now displays some parameters. You can check
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- The autopilot mode: "auto1" (stabilized manual mode)
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- The altitude (on the right of the horizon)
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- The speed: null (on the left of the horizon)
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5) "Launch" the aircraft (button in the aircraft window)
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The speed is now 10m/s.
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The altitude is going down: push the THROTTLE to go up !
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Ok, you were probably too slow: the aircraft went too far from HOME
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and the autopilot mode is now "home" (cockpit window): it is going
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back home automatically and you do not control anything with the RC.
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6) Launch "map" (from the control panel)
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In this window, you can zoom with mouse wheel and pan with the middle
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button.
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The aicraft is going around the "HOME" waypoint.
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Now, reset the autopilot mode with GAIN1 slider (push full left for
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one second, put it back around 0 when "auto1" is displayed in the
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cockpit window). The aircraft is going away: turn right or left with
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the "ROLL" slider which directly controls the "roll" angle (set it to 0
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to go straight)
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Look at the altitude. Control its variation with the "THROTTLE".
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7) Launch "mission" (from the control panel)
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This window displays the flight plan the aircraft will follow in
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autonomous mode. If your current altitude is realistic, the second
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block should be active (if not, go up with more THROTTLE)
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8) Switch to autonomous mode "auto2" with the "MODE" slider (push right)
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The aircraft successively goes to waypoints 1 and 3 while trying to
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stay at a constant altitude of 200m. The trajectory is better if you
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active the automatic calibration of the attitude with the "LLS" slider
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(with a large positive value, you get "ON" on the Cockpit window)
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9) Activate the next block of the flight plan with "GAIN1" slider (full left)
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The active block is now the "height". On the "map" window (type
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CRTL-C to clear the track), you can observe a red point (the "carrot")
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which moves in front of the aircraft: it is the guide of the aircraft
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(that you probably should consider as a donkey in this case), always
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5 second before the aircraft on the desired track.
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10) Add some west wind (with the slider on the aircraft window)
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5m/s is an acceptable value for this approximative flight model. The
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aircraft no longer can follow the "height" trajectory.
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11) Activate the next block of the mission ("GAIN1" slider, full left)
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In this "xyz" mode, you can control the carrot position with the
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"YAW" (west-east) and "PITCH" (south-north) sliders: the slider value is
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the speed of the carrot.
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12) Activate the next block
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In this block, the aircraft follows a circle around the "HOME"
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waypoint at a fixed distance.
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13) Close the control panel to quit
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2) Choose the appropriate session
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