diff --git a/README b/README index 0357526024..b001bb9843 100644 --- a/README +++ b/README @@ -1,5 +1,5 @@ # Paparazzi $Id$ -# Copyright (C) 2003-2005 Pascal Brisset Antoine Drouin +# Copyright (C) 2003-2006 Pascal Brisset Antoine Drouin # # This file is part of paparazzi. # @@ -24,185 +24,85 @@ Intro Paparazzi is an attempt to develop a cheap fixed wing UAV (Unmanned Air Vehicle). As of today we have successfully flown autonomously several small -electro powered fixed wing aircraft: the Twinstar and the Microjet of -Multiplex. +electro powered fixed wing aircraft (Twinstar, Microjet, ...). -Up to date informations are available from the website +Up to date informations are available from the websites www.nongnu.org/paparazzi + www.recherche.enac.fr/paparazzi -and from the mailing list. +and from the mailing list and the IRC channem. Documentation is edited in +the wiki + + www.recherche.enac.fr/paparazzi/doc Directories description: ----------------------- -conf: the configuration directory (airframe, radio, ... descriptions). YOU HAVE -TO EDIT THERE the Makefile.local file +conf: the configuration directory (airframe, radio, ... descriptions). -data: where to put read-only data (e.g. maps and terrain files) +data: where to put read-only data (e.g. maps and terrain elevation files) -doc: the paparazzi documentation. - -hw: hardware definitions (electronic schemas, PCBs, ...) +hw: hardware (electronic schemas, PCBs, ...) sw: software (onboard, ground station, simulation, ...) +var: products of compilation, cache for the map tiles, ... + +debian: Debian packaging control files + Required Software ----------------- - - AVR micro-controller development environnment (avr-gcc, uisp, avr-libc) - OCaml (ocaml.org), xml-light library (http://tech.motion-twin.com/xmllight) - gcc, GTK2, Glib2, libgnomecanvas, libxml2 + - AVR or ARM7 micro-controller development environnment (gcc, loader, libc, binutils) - ... For Debian users: Required packages are available at + http://www.recherche.enac.fr/paparazzi/debian -Installation of the meta-package "paparazzi" will install everything -needed (if something is missing, please ask) + +Installation of the meta-package "paparazzi-dev" will install everything +needed to compile this project (if something is missing, please ask) Compilation ----------- - 0) Configuration. Default PAPARAZZI_HOME is $(HOME)/paparazzi. You -can change it by setting an environment variable - 1) "make" in the top directory - 2) Set the PAPARAZZI_SRC environment variable to the top directory -(default is /usr/share/paparazzi) + 2) "make demo" to run a demo (c.f. www.recherche.enac.fr/paparazzi/doc/moin.cgi/GettingStarted/Simulation) - 2) "make init" creates a directory $PAPARAZZI_HOME for your own files. -Configure there the conf/conf.xml + 3) "make AIRCRAFT= .compile" compiles the airborne code for the specified target and aircraft - 3) "make ac AIRCRAFT=" compiles everything for the specified -aircraft (default is twinstar2 for which conf files are provided) and -set the files in $PAPARAZZI_HOME/var/ + 4) "make AIRCRAFT= sim" compiles the simulator for the specified aircraft. - 5) "make clean_ac AIRCRAFT=" cleans files for the specified aircraft. - - 6) $PAPARAZZI_HOME/var//sim/simsitl.out runs the soft simulator. + 5) "make AIRCRAFT= clean_ac" cleans files for the specified aircraft. Uploading of the embedded software ---------------------------------- - 1) Power the flight controller board. Plug the pc-link to the board - and to the host parallel port. + 1) Power the flight controller board. Plug the pc-link to the board. 2) Upload with - make upload_fbw # Fly by wire - make upload_ap # Autopilot + make AIRCRAFT= fbw.upload # Fly by wire + make AIRCRAFT= ap.upload # Autopilot - Important notes: + Important notes for bi-microcontroller avr boards: - The pclink must be switched accordingly with the target - The "fly by wire" controller cannot be uploaded when the "autopilot" controller is running. They cannot independently be modified; then an upload of the fly by wire usually requires - make erase_ap - make upload_fbw - make upload_ap + make AIRCRAFT= ap.erase + make AIRCRAFT= fbw.upload + make AIRCRAFT= ap.upload Running the ground segment monitoring ------------------------------------- - 1) The transmitter must be plugged to the flight controller and both must - be powered. - 2) The ground modem must be powered and plugged to the antenna and - to the host (trough a serial port) + 1) "sw/supervision/paparazzi.pl" runs the ground control station supervision - 3) Launch the supervision - - sw/supervision/paparazzi.pl - - 4) Launch "receive", "cockpit", "map", ... - - -Log replay ----------- - 1) Run the supervision - - sw/supervision/paparazzi.pl - - 2) Launch "play", "cockpit", "map", ... - - -Software in the loop simulator ------------------------------- -This simulator allows to run the stabilization and navigation controllers -and play with the ground control station. - -0) Use the conf.xml and ground_segment.xml examples for the configuration. -Recompile everything to be sure you run what you want ("make clean; make" in -the top directory). The mission takes place in Braunschweig, Germany -(flight competion of EMAV'04). - -1) Run the "control panel" (sw/supervision/paparazzi.pl) - This window helps to launch the different components. - -2) Launch the "cockpit" to display flight parameters - -3) Launch "sim" (aircraft simulator) - You get two windows standing for - - The aircraft - - The radio-controller (RC, displayed as one slider for each channel, -even if some of them are buttons on the real RC) - -4) "Boot" the aircraft (button in the aircraft window) - The cockpit now displays some parameters. You can check - - The autopilot mode: "auto1" (stabilized manual mode) - - The altitude (on the right of the horizon) - - The speed: null (on the left of the horizon) - -5) "Launch" the aircraft (button in the aircraft window) - The speed is now 10m/s. - The altitude is going down: push the THROTTLE to go up ! - Ok, you were probably too slow: the aircraft went too far from HOME -and the autopilot mode is now "home" (cockpit window): it is going -back home automatically and you do not control anything with the RC. - -6) Launch "map" (from the control panel) - In this window, you can zoom with mouse wheel and pan with the middle -button. - The aicraft is going around the "HOME" waypoint. - Now, reset the autopilot mode with GAIN1 slider (push full left for -one second, put it back around 0 when "auto1" is displayed in the -cockpit window). The aircraft is going away: turn right or left with -the "ROLL" slider which directly controls the "roll" angle (set it to 0 -to go straight) - Look at the altitude. Control its variation with the "THROTTLE". - -7) Launch "mission" (from the control panel) - This window displays the flight plan the aircraft will follow in -autonomous mode. If your current altitude is realistic, the second -block should be active (if not, go up with more THROTTLE) - -8) Switch to autonomous mode "auto2" with the "MODE" slider (push right) - - The aircraft successively goes to waypoints 1 and 3 while trying to -stay at a constant altitude of 200m. The trajectory is better if you -active the automatic calibration of the attitude with the "LLS" slider -(with a large positive value, you get "ON" on the Cockpit window) - -9) Activate the next block of the flight plan with "GAIN1" slider (full left) - The active block is now the "height". On the "map" window (type -CRTL-C to clear the track), you can observe a red point (the "carrot") -which moves in front of the aircraft: it is the guide of the aircraft -(that you probably should consider as a donkey in this case), always -5 second before the aircraft on the desired track. - -10) Add some west wind (with the slider on the aircraft window) - 5m/s is an acceptable value for this approximative flight model. The -aircraft no longer can follow the "height" trajectory. - -11) Activate the next block of the mission ("GAIN1" slider, full left) - In this "xyz" mode, you can control the carrot position with the -"YAW" (west-east) and "PITCH" (south-north) sliders: the slider value is -the speed of the carrot. - -12) Activate the next block - In this block, the aircraft follows a circle around the "HOME" -waypoint at a fixed distance. - -13) Close the control panel to quit + 2) Choose the appropriate session