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cleaning for 3.1 release

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Pascal Brisset
2006-09-07 21:33:13 +00:00
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# Paparazzi $Id$ # Paparazzi $Id$
# Copyright (C) 2003-2005 Pascal Brisset Antoine Drouin # Copyright (C) 2003-2006 Pascal Brisset Antoine Drouin
# #
# This file is part of paparazzi. # This file is part of paparazzi.
# #
@@ -24,185 +24,85 @@ Intro
Paparazzi is an attempt to develop a cheap fixed wing UAV (Unmanned Air Paparazzi is an attempt to develop a cheap fixed wing UAV (Unmanned Air
Vehicle). As of today we have successfully flown autonomously several small Vehicle). As of today we have successfully flown autonomously several small
electro powered fixed wing aircraft: the Twinstar and the Microjet of electro powered fixed wing aircraft (Twinstar, Microjet, ...).
Multiplex.
Up to date informations are available from the website Up to date informations are available from the websites
www.nongnu.org/paparazzi 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: Directories description:
----------------------- -----------------------
conf: the configuration directory (airframe, radio, ... descriptions). YOU HAVE conf: the configuration directory (airframe, radio, ... descriptions).
TO EDIT THERE the Makefile.local file
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 (electronic schemas, PCBs, ...)
hw: hardware definitions (electronic schemas, PCBs, ...)
sw: software (onboard, ground station, simulation, ...) sw: software (onboard, ground station, simulation, ...)
var: products of compilation, cache for the map tiles, ...
debian: Debian packaging control files
Required Software Required Software
----------------- -----------------
- AVR micro-controller development environnment (avr-gcc, uisp, avr-libc)
- OCaml (ocaml.org), xml-light library (http://tech.motion-twin.com/xmllight) - OCaml (ocaml.org), xml-light library (http://tech.motion-twin.com/xmllight)
- gcc, GTK2, Glib2, libgnomecanvas, libxml2 - gcc, GTK2, Glib2, libgnomecanvas, libxml2
- AVR or ARM7 micro-controller development environnment (gcc, loader, libc, binutils)
- ... - ...
For Debian users: Required packages are available at For Debian users: Required packages are available at
http://www.recherche.enac.fr/paparazzi/debian 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 Compilation
----------- -----------
0) Configuration. Default PAPARAZZI_HOME is $(HOME)/paparazzi. You
can change it by setting an environment variable
1) "make" in the top directory 1) "make" in the top directory
2) Set the PAPARAZZI_SRC environment variable to the top directory 2) "make demo" to run a demo (c.f. www.recherche.enac.fr/paparazzi/doc/moin.cgi/GettingStarted/Simulation)
(default is /usr/share/paparazzi)
2) "make init" creates a directory $PAPARAZZI_HOME for your own files. 3) "make AIRCRAFT=<name> <target>.compile" compiles the airborne code for the specified target and aircraft
Configure there the conf/conf.xml
3) "make ac AIRCRAFT=<name>" compiles everything for the specified 4) "make AIRCRAFT=<name> sim" compiles the simulator for the specified aircraft.
aircraft (default is twinstar2 for which conf files are provided) and
set the files in $PAPARAZZI_HOME/var/<name>
5) "make clean_ac AIRCRAFT=<name>" cleans files for the specified aircraft. 5) "make AIRCRAFT=<name> clean_ac" cleans files for the specified aircraft.
6) $PAPARAZZI_HOME/var/<name>/sim/simsitl.out runs the soft simulator.
Uploading of the embedded software Uploading of the embedded software
---------------------------------- ----------------------------------
1) Power the flight controller board. Plug the pc-link to the board 1) Power the flight controller board. Plug the pc-link to the board.
and to the host parallel port.
2) Upload with 2) Upload with
make upload_fbw # Fly by wire make AIRCRAFT=<name> fbw.upload # Fly by wire
make upload_ap # Autopilot make AIRCRAFT=<name> ap.upload # Autopilot
Important notes: Important notes for bi-microcontroller avr boards:
- The pclink must be switched accordingly with the target - The pclink must be switched accordingly with the target
- The "fly by wire" controller cannot be uploaded when the - The "fly by wire" controller cannot be uploaded when the
"autopilot" controller is running. They cannot independently be "autopilot" controller is running. They cannot independently be
modified; then an upload of the fly by wire usually requires modified; then an upload of the fly by wire usually requires
make erase_ap make AIRCRAFT=<name> ap.erase
make upload_fbw make AIRCRAFT=<name> fbw.upload
make upload_ap make AIRCRAFT=<name> ap.upload
Running the ground segment monitoring 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 1) "sw/supervision/paparazzi.pl" runs the ground control station supervision
to the host (trough a serial port)
3) Launch the supervision 2) Choose the appropriate session
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