mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-09 14:18:00 +08:00

T

Tom van Dijk c0741e01ab MAVLab course 2018 (#2268 )

* Merge cyberzoo model (squashed)

Squashed commit of the following:

commit 4ea7054205
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Tue Feb 6 11:30:28 2018 +0100

    Remove origin marker from worlds

commit c008c9658a
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Fri Feb 2 17:25:11 2018 +0100

    Compress textures

    Reduced texture dimensions. Size of model folder is now approx.
    20 MB instead of 60+ MB.

commit 5b63fc1988
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Fri Feb 2 17:03:26 2018 +0100

    Minor tweaks to models

commit ed003351d1
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Fri Feb 2 15:26:28 2018 +0100

    Add cyberzoo props

commit 751b94364a
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Thu Feb 1 15:03:30 2018 +0100

    Restore cyberzoo floor collision box

commit 1d4fd2d92f
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Thu Feb 1 14:59:44 2018 +0100

    Add cyberzoo surroundings to main model in separate layers

commit 9df9f2832c
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Thu Feb 1 14:48:06 2018 +0100

    Separate cyberzoo model into layers

    Makes it easier to hide parts of the model in the GUI.

commit f8c4221e98
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Thu Feb 1 11:47:52 2018 +0100

    Add daylight in windows on outer walls

commit b0e6a0c572
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Mon Jan 29 16:25:08 2018 +0100

    Remove old cyberzoo model, fix dependencies

commit dd54000771
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Mon Jan 29 15:04:43 2018 +0100

    Add cyberzoo world with orange poles for orange_avoider

commit a34e285082
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Mon Jan 29 14:30:47 2018 +0100

    Set world coordinates and rotation, fix naming conflict

commit 1a99ebb7bd
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Thu Jan 18 11:58:06 2018 +0100

    Create cyberzoo world

    To-do: set origin coordinates and rotate environment

commit ebf7eaf9a7
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Thu Jan 18 11:41:37 2018 +0100

    Minor fixes to surroundings

commit c57312c557
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Thu Jan 18 11:15:09 2018 +0100

    Add updated cyberzoo surroundings and outside walls

commit 58914e14ae
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Wed Jan 17 17:24:57 2018 +0100

    Add first draft of cyberzoo surroundings

commit 40712f5f3b
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Tue Dec 12 13:45:25 2017 +0100

    Fix cyberzoo origin

commit e47f76cee5
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Tue Dec 12 13:34:11 2017 +0100

    Fix orange_pole2 smoothing errors

commit b1e08695e7
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Tue Dec 12 13:09:09 2017 +0100

    Add orange pole and traffic mat objects

commit 8bd3d214e6
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Fri Dec 8 14:48:53 2017 +0100

    Fix optitrack camera color

commit 59e7b67fef
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Fri Dec 8 14:43:39 2017 +0100

    Fix lighting colors

commit 810e6124c1
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Fri Dec 8 14:20:47 2017 +0100

    Fix optitrack cameras

commit e6e17c2677
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Fri Dec 8 14:10:55 2017 +0100

    Import improved model

commit e9ed496af9
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Thu Nov 30 16:38:22 2017 +0100

    Fix ambient lighting of cyberzoo_solid

commit 0e1c2600d6
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date:   Wed Nov 29 14:38:05 2017 +0100

    First steps towards detailed cyberzoo model. Got transparency working.

* Fix altitude overshoot in simulation

- Bypass INS
- Set nominal hover throttle to 0.51 (verified in simulation and on real drone).

* Fix INS horizontal offset

- Set flight plan origin to match gazebo spherical coordinates,
prevents https://github.com/paparazzi/paparazzi/issues/2134#issuecomment-342493105

* Increase link lost timeout to 5s

Otherwise gazebo will continuously lose link. Might need to lower
this for real-world flights...

* Fix image.c compilation warnings

* Move dummy waypoint to 0, 0

Should prevent "waypoint 'dummy' too far from HOME" warnings when
max_dist_from_home is small (e.g. cyberzoo flightplans) and when
HOME is set appropriately close to the flight plan origin.

* Rename 2017 -> 2018

Also removed simulation aircraft as it is no longer necessary.

* Move modules to firmware section

* Restore original nominal throttle

Nominal throttle of 0.51 was measured without bumpers! 0.68 is correct
with bumpers attached. Instead, increased the weight of the gazebo model.

* Clean up control panel

- Removed Bebop video stream since it did not work
- Removed the Gazebo tool. When pointed to /usr/bin/gazebo it does actually start, but
  the GAZEBO_MODEL_PATH appears to be ignored this way.

Also added conf/video.sdp to simplify video streaming (no such file
was present in var).

* Tag airframe after successful test flight

Performed test flight in cyberzoo with course2018_orangeavoid flightplan in NAV mode.

* Fix Gazebo tool, add Simulation - Gazebo + Joystick session

The new gzclient_launcher.sh script sets up the correct GAZEBO_MODEL_PATH
(which was not available when gzclient was started from the Paparazzi Center
even if it was added to ~/.bashrc). It also allows the client to be killed
from the pprz center.

* FIX remove natnet from simulation session

* Retune INDI for Bebop1 with bumpers

Previous tuning resulted in slight attitude oscillations.

* Tag after successful testflight

* Add GCS flags

* Change gazebo bebop colors

* Disable light and shadows

Top light caused ogre crash in gazebo 8.3 (not sure if version error or weak gpu).
Disabled shadow for performance since there is no light anymore.

* Reduce bebop front cam FoV to fix AxisAlignedBox crash in gazebo7

Apparaetly gazebo 7 does not yet support wide-angle cameras with
HFoVs above 180deg.

* Distance Counter Python

* Cleanup after merge

* Remove image.c fix (see #2237)

* Add 'Simulation - Gazebo' session

Avoids errors when joystick is not connected.

2018-05-30 17:34:03 +02:00

conf

MAVLab course 2018 (#2268 )

2018-05-30 17:34:03 +02:00

data

…

doc

[doc] start sphynx doc for paparazzi (#2247 )

2018-03-30 22:27:13 +02:00

docker

…

src

[python supervision] Fix paths (#2093 ). (#2236 )

2018-03-12 11:24:30 +01:00

MAVLab course 2018 (#2268 )

2018-05-30 17:34:03 +02:00

tests

…

.gitignore

…

.gitmodules

[gazebo] Cyberzoo model (#2230 )

2018-05-30 15:32:10 +02:00

.packages

…

.travis.yml

galois embedded crypto module and secure transport (#2205 )

2018-01-19 00:09:17 +01:00

BUGS

…

CHANGELOG.md

…

CONTRIBUTING.md

…

COPYING

…

create_module

…

Doxyfile

…

find_confs.py

…

fix_code_style.sh

Crypto updates (#2245 )

2018-03-17 19:25:23 -07:00

githelper.sh

…

LICENSE

…

make-release-tarball.sh

…

Makefile

…

Makefile.ac

[build] try to improve dependency and not do unnecessary things (#2244 )

2018-03-19 15:44:04 +01:00

Makefile.lpctools

…

paparazzi_code_profile_eclipse.xml

…

paparazzi_pkgman.py

…

paparazzi_version

…

paparazzi.sublime-project

…

pprz_src_test.sh

…

README.md

…

select_conf.py

…

start.py

…

Vagrantfile

…

README.md

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.

Up to date information is 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).

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

type "make" in the top directory to compile all the libraries and tools.
"./paparazzi" to run the Paparazzi Center
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".
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

Power the flight controller board while it is connected to the PC with the USB cable.
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 !

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