Tom van Dijk
cfabb51eed
* Add gazebo model for Parrot Bebop 1 * Add first-order high pass filter * First implementation of actuator dynamics and spinup torque Flies ok with PID control Does not fly ok with INDI, the required G1 R is 0.159 instead of 0.0022 (estimated by flying in adaptive mode). The other parameters are close to those specified in the airframe file. * FIX incorrect yaw behavior Fixed two bugs: 1. gazebo_actuators.torques was set to NPS_ACTUATOR_THRUSTS 2. spinup torque direction is now also controlled by motor mixing * Clean up debug code and file logger * Clean up gazebo example airframes * Minor cleanup * FIX warnings about missing initializer in fdm_gazebo * Update documentation * Remove modules section, move to firmware * Minor fixes to fdm_gazebo and high_pass_filter * Move actuator dynamics to included airframe files Should prevent duplicate actuator defines spread accross all airframe files. * Fix FILTER_ROLL_RATE in bebop2_indi airframe Moved to firmware targets so it will be disabled in gazebo. Is this actually working in jsbsim?? * Update documentation * Fix newlines * Minor fixes in nps_fdm_gazebo.cpp * Re-enable filter roll rate Caution: causes oscillations around roll axis in gazebo * Disable roll filter and cleanup
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 !