Felix Ruess
4dd870b8eb
With DLPF_256HZ (value zero) the internal sampling rate is 8kHz and with a sample rate divider of 1 the output freq was actually 4kHz and not 500Hz. Since the data is polled from the mpu at PERIODIC_FREQUENCY the AHRS_PROPAGATE_FREQUENCY (defaulting to PERIODIC_FREQUENCY) is also 512Hz for a default rotorcraft config. Set the output freq to 2kHz now, AHRS_PROPAGATE_FREQUENCY stays at PERIODIC_FREQUENCY=512Hz so doesn't have to be defined in the airframe file. Also added defaults for PERIODIC_FREQUENCY of 60 and 120Hz: - DLPF_42HZ - output rate of 100Hz In these cases add <define name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
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 hobyists, 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://paparazzi.enac.fr
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://paparazzi.enac.fr/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 http://paparazzi.enac.fr/debian
- paparazzi-dev is the meta-package that depends on everything needed to compile and run the ground segment and the simulator.
- paparazzi-arm-multilib ARM cross-compiling toolchain for LPC21 and STM32 based boards.
- paparazzi-omap toolchain for the optional Gumstix Overo module available on lisa/L.
- paparazzi-jsbsim is needed for using JSBSim as flight dynamic model for the simulator.
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 !