Gautier Hattenberger
01ac335eb7
* [wls] make WLS lib, add support for guidance_indi_hybrid * [wls] update test program * [wls] restore static matrix size for WLS * [wls] update test prog * [indi] ABI thrust message to 3D vector (#3116) * [indi] ABI thrust message to 3D vector Common WLS for innerloop and outerloop Co-authored-by: Christophe De Wagter <dewagter@gmail.com> * Bound defaults to min in case of NaN --------- Co-authored-by: Christophe De Wagter <dewagter@gmail.com> * [guidance_indi] lift effectiveness and set stabilization limits in WEAK (#3117) * do not allow code to run with insufficient matrix sizes * Prefer not to roll when able. * [wls] only check size if WLS is used --------- Co-authored-by: Christophe De Wagter <dewagter@gmail.com> Co-authored-by: Ewoud Smeur <e.j.j.smeur@tudelft.nl>
MAIN README
Paparazzi UAS
Paparazzi is a free open source software package for Unmanned (Air) Vehicle Systems. For many years, the system has been used successfuly by hobbyists, universities and companies all over the world, on vehicles of various sizes (11.9g to 25kg). Paparazzi supports fixed wing, rotorcraft, hybrids, flapping vehicles and it is even possible to use it for boats and surface vehicles.
Documentation is available here https://paparazzi-uav.readthedocs.io/en/latest/
More docs is also available on the wiki http://wiki.paparazziuav.org
To get in touch, subscribe to the mailing list [paparazzi-devel@nongnu.org] (http://savannah.nongnu.org/mail/?group=paparazzi), the IRC channel (freenode, #paparazzi) and Gitter (https://gitter.im/paparazzi/discuss).
Required software
Instructions for installation can be found on the wiki (http://wiki.paparazziuav.org/wiki/Installation).
Quick start:
git clone https://github.com/paparazzi/paparazzi.git
cd ./paparazzi
./install.sh
For Ubuntu users, required packages are available in the [paparazzi-uav PPA] (https://launchpad.net/~paparazzi-uav/+archive/ppa), Debian users can use the [OpenSUSE Build Service repository] (http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_7.0/)
Debian/Ubuntu packages:
- paparazzi-dev is the meta-package on which the Paparazzi software depends to compile and run the ground segment and simulator.
- paparazzi-jsbsim is needed for using JSBSim as flight dynamics model for the simulator.
Recommended cross compiling toolchain: https://launchpad.net/gcc-arm-embedded
Directories quick and dirty description:
conf: the configuration directory (airframe, radio, ... descriptions).
data: where to put read-only data (e.g. maps, terrain elevation files, icons)
doc: documentation (diagrams, manual source files, ...)
sw: software (onboard, ground station, simulation, ...)
var: products of compilation, cache for the map tiles, ...
Compilation and demo simulation
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type "make" in the top directory to compile all the libraries and tools.
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"./paparazzi" to run the Paparazzi Center
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Select the "Bixler" aircraft in the upper-left A/C combo box. Select "sim" from upper-middle "target" combo box. Click "Build". When the compilation is finished, select "Simulation" in Operation tab and click "Start Session".
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In the GCS, wait about 10s for the aircraft to be in the "Holding point" navigation block. Switch to the "Takeoff" block (lower-left blue airway button in the strip). Takeoff with the green launch button.
Uploading the embedded software
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Power the flight controller board while it is connected to the PC with the USB cable.
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From the Paparazzi center, select the "ap" target, and click "Upload".
Flight
- From the Paparazzi Center, select the flight session and ... do the same as in simulation !