Christophe De Wagter
308a698bf4
* max bank in deg * takeoff no attitude msec timer * Prepared elevator moment compensation fix * [EHVB_rotwing fp] Updated takeoff stratgey with roll and pitch check and added standby_free to flightplan * [fp EHVB] Takeoff 3 seconds on att 0,0 * increase filter freq and setting for max acc * [rot_wing_eff_sched] Elevator 5 degrees higher * [rot_wing] Decreased cutoff frequencies of filters * [modules] Support dual ublox GPS modules * [ekf2] Add failsafe remove yaw * Reverted acceleration limits * takeoff procedure update * [flight_plan] Takeoff when hover motors are running * scale elevator ctrl eff in transition * [conf] Fix takeoff * Higher pitch gains * Fix conf * Add extra throttle for spinup * Update calibration * max_bank in Radians only except in xml/gcs with auto-conversion * cleanup * Use flightplan variables instead... * fix test * revert debugging action * cleanup unused * cleanup more * Fix compile bug * [pfc] Fix actuators * Add follow tests * reduce pitch weight in forward flight * correctly set cmd thrust in INDI * fix takeoff unequal roll effectiveness and not in_flight * Fix heading in approach * fix double define and roll scaling setting * settings names and roll scaling in right settings * moving simulator stuff * [flight_plan] Update angel for takeoff * Update conf * Conf update * [conf] Update checks * land in approach * Fix flightplan * Update sw/ground_segment/python/moving_base/moving_base.py * input params for moving base sim * no elevator compensation --------- Co-authored-by: Ewoud Smeur <e.j.j.smeur@tudelft.nl> Co-authored-by: Dennis van Wijngaarden <32736330+Dennis-Wijngaarden@users.noreply.github.com> Co-authored-by: Freek van Tienen <freek.v.tienen@gmail.com>
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 !