Hector Garcia de Marina
2144be74be
* [GVF] more functions exposed to the user * [GVF] gvf_line_xy1_xy2 added * [GVF] segment msg added for the GCS * poly survey with GVF * [GVF] segment primitive added * integrating gvf and poly survey * [GVF] each trajectory has its own gains now * updated settings (gains) for the GVF trajectories * [GVF] nav_survey_polygon integrated with GVF * [GVF] python scripts updated for the new GVF msg format * pprz c code style * [GVF] updated demo * gvf demo includes poly survey * [GVF] gvf poly survey moved to gvf module * [GVF] nav module not necessary anymore for gvf demo * [GVF] _gvf added for being different from others nav functions from other modules * [GVF] description about employing gvf here has been removed * gvf_ for not conflict with former nav module * These definitions now have to be done in the airframe conf * [GVF] kn is not used anymore by the gvf visualization * [GVF] better description msg for the formation script * [GVF] Doxygen doc * print for python 3 * correct style * we set up correctly the vertical control * Doxygen * Only for auto2. If we are in auto1, do not override the roll set point * Circular formation now also works for counter-clockwise direction * update pprzlink * Gautier comments * [GVF] more functions exposed to the user * [GVF] gvf_line_xy1_xy2 added * [GVF] segment msg added for the GCS * poly survey with GVF * [GVF] segment primitive added * integrating gvf and poly survey * [GVF] each trajectory has its own gains now * updated settings (gains) for the GVF trajectories * [GVF] nav_survey_polygon integrated with GVF * [GVF] python scripts updated for the new GVF msg format * pprz c code style * [GVF] updated demo * gvf demo includes poly survey * [GVF] gvf poly survey moved to gvf module * [GVF] nav module not necessary anymore for gvf demo * [GVF] _gvf added for being different from others nav functions from other modules * [GVF] description about employing gvf here has been removed * gvf_ for not conflict with former nav module * These definitions now have to be done in the airframe conf * [GVF] kn is not used anymore by the gvf visualization * [GVF] better description msg for the formation script * [GVF] Doxygen doc * print for python 3 * correct style * we set up correctly the vertical control * Doxygen * Only for auto2. If we are in auto1, do not override the roll set point * Circular formation now also works for counter-clockwise direction * update pprzlink * Gautier comments * PPRZ_MODE_AUTO2 is now AP_MODE_AUTO2 * new functions for the GVF demo * Primitives for tracking lines, segments and segment_loops * Poly survey track the proper segment function
MAIN README
Paparazzi UAS
Paparazzi is an attempt to develop a free software Unmanned (Air) Vehicle System. As of today the system is being used successfuly by a number of hobbyists, universities and companies all over the world, on vehicle of various size ( 100g to 25Kg ) and of various nature ( fixed wing, rotorcrafts, boats and surface vehicles).
Up to date information is available in the wiki http://wiki.paparazziuav.org
and from the mailing list [paparazzi-devel@nongnu.org] (http://savannah.nongnu.org/mail/?group=paparazzi) and the IRC channel (freenode, #paparazzi).
Required Software
Installation is described in the wiki (http://wiki.paparazziuav.org/wiki/Installation).
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 that depends on everything needed to compile and run the ground segment and the simulator.
- paparazzi-jsbsim is needed for using JSBSim as flight dynamic 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
-
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 "Microjet" 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" from the upper-right session combo box and click "Execute".
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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 of 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 than in simulation !