Felix Ruess
5b85dc15dc
to get altitude fixes for nav routines * master: (81 commits) [rotorcraft] gps_sim_hitl: set gps alt and hmsl [rotorcraft] simple HITL by using ref as gps [ins] gps_passthrough type for rotorcrafts [ins] no baro update if vf_reset && !baro_initialized [ins] vf_extended: rename update_alt to update_z [ins] Made it possible to use GPS altitude [ins] hf_float: remove inline from functions [ins] hf_float: fix compilation with GPS_LAG [ins] IIR filter replacing mean in hff Use PPM [usec] values for radio config files with SBUS [actuators] dualpwm fixes for nps [actuators] actuators driver that generates dual pwm pulses. [ground_segment] add libprcre to natnet [math] fix resolution in ltp_def rotation matrix [conf] remove obsolete BARO_HAS_BOARD defines [chibios] fix compilation with chibios [datalink] Fixed some small issues with UDP datalink [follow] Fixed following module [modules] Added a module for following based on received remote GPS [ardrone] Updated gains and reference model for inside ... Conflicts: sw/airborne/modules/nav/nav_drop.c sw/airborne/subsystems/navigation/OSAMNav.c sw/airborne/subsystems/navigation/poly_survey_adv.c sw/airborne/subsystems/navigation/spiral.c
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://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
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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 "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 !