nyuuzyou/wikis huggingface dataset:
Installation/BeagleBoneBlack

Installation
__TOC__
== Introduction ==
BeagleBone Black is a low-cost, community-supported development platform for developers and hobbyists. Boot Linux in under 10 seconds and get started on development in less than 5 minutes with just a single USB cable.
This page describes the installation of Paparazzi and dependencies to get the GCS running on the BBB.
== Ubuntu ==
The simplest is to install Ubuntu on the BBB. See http://elinux.org/BeagleBoardUbuntu
The Ubuntu 14.04.1 console image works nicely, but comes without a graphical desktop, so you might want to install LXDE:
 $ sudo apt-get install lxde
Now add the Paparazzi-uav PPA and install the software:
The software-properties-common package is needed for the add-apt-repository command:
 $ sudo apt-get install software-properties-common
 $ sudo add-apt-repository ppa:paparazzi-uav/ppa
 $ sudo apt-get update
 $ sudo apt-get install paparazzi-dev gcc-arm-none-eabi
Done, you have installed all Paparazzi dependencies.
== Building Paparazzi ==
* Get the paparazzi source as per usual, using your desired method/setup as described in git, e.g.:
 $ git clone https://github.com/paparazzi/paparazzi.git
* Now change to the paparazzi directory
 $ cd paparazzi
* Set the PAPARAZZI_HOME and PAPARAZZI_SRC environment vars
 $ git checkout master
* Build Paparazzi:
 $ make
* Build the native versions of the GCS and Server (which will run faster)
 $ make ground_segment.opt
== Trying it out ==
=== Running directly on the BBB ===
SSH into your BBB with X11 forwarding (using the -X) option.
* $ cd ~/paparazzi
* $ ./paparazzi
* You should see a window pop up on your local machine with paparazzi center.
* You can then launch a session as usual...
* To get some more speed, use the native version of the GCS and server by running sw/ground_segment/cockpit/gcs.opt and sw/ground_segment/tmtc/server.opt instead of the non-opt versions.
=== Remote GCS/Messages ===
Next, one can try simulating on the local machine, and pushing the ivy bus messages across the local network and reading them with the programs on the BBB.
* Build and test an airframe you wish to simulate as usual on the local machine, and test it quickly by simulating
* Stop all the agents, and add the following option to the call: -b <local network broadcast ip> (for example 192.168.0.255)
* Before running programs on the BBB, it needs to know about the freshly compiled airframe. So, copy the conf/conf.xml file from the local machine to the BBB, and also the whole var/ folder intact, AFTER having compiled for simulation
* Restart the agents on the local machine with the ivy bus option, everything should be working as before
* Now start messages on the BBB as described above, but set the bus to the same IP as the local machine (you can also try out the GCS by running $ sw/ground_segment/cockpit/gcs -b <local network broadcast ip>)
Category:Software Category:User_Documentation Category: Installation
Installation/Linux/udev

This page describes common paparazzi port naming convention.
= Paparazzi device list =
/dev/paparazzi/xbee - interface that is used for telemetry connections. (transperent, airborne)
/dev/paparazzi/jtag - interface used for jtag debugging.
/dev/paparazzi/sereial - interface that is used for local board connections.
.wine/dosdevices/com4 - interface for X-CTU (see xbee configuration page).
To have you linux making automatic symlinks to right devices, your udev file should look like:
 ACTION!="add|change", GOTO="paparazzi_rules_end"
 
 # other bare FT232R FTDI chip without EEPROM
 SUBSYSTEM=="tty", ATTRS{product}=="FT232R USB UART", SYMLINK+="paparazzi/serial", GROUP="plugdev"
 
 # MaxStream xbee pro box
 SUBSYSTEM=="tty", ATTRS{product}=="MaxStream PKG-U", SYMLINK+="paparazzi/xbee", GROUP="plugdev"
 
 # MaxStream FLOSS JTAG
 ATTRS{interface}=="FLOSS-JTAG", ATTRS{bInterfaceNumber}=="00", SYMLINK+="paparazzi/jtag", GROUP="plugdev"
 ATTRS{interface}=="FLOSS-JTAG", ATTRS{bInterfaceNumber}=="01", SYMLINK+="paparazzi/serial", GROUP="plugdev"
 
 LABEL="tty_FTDI232_end"
 
 SUBSYSTEM!="usb", GOTO="paparazzi_rules_end"
 ENV{DEVTYPE}!="usb_device", GOTO="paparazzi_rules_end"
 
 ATTR{manufacturer}=="Transition Robotics Inc.", ATTR{product}=="Lisa/M (Upgrade)*", GROUP="plugdev"
 
 #SUBSYSTEMS=="usb", ATTRS{serial}=="*_fbw", NAME="test_fbw", SYMLINK+="paparazzi/%s{serial}", MODE="0666"
 
 # FTDI 2232 parallel converter / Amontec JTAG-Tiny (access through libftdi)
 ATTRS{idVendor}=="0403", ATTRS{idProduct}=="cff8", GROUP="plugdev"
 
 # FTDI 2232 based jtag for Lisa/L and usb upload
 ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6010", MODE="0666", GROUP="plugdev"
 
 # all (fake VID 0x7070) LPCUSB devices (access through libusb)
 ATTRS{idVendor}=="7070", GROUP="plugdev"
 
 # make joysticks/gamepads readable on event interface (writeable for force feedback), see input_event.sh
 KERNEL=="event*", IMPORT{program}="input_event.sh %p", NAME="input/%k", GROUP="plugdev", MODE="0640" ENV{FF_DEVICE}=="1", MODE="0660"
 
 # FTDI with uBlox direct on USB
 ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a5", KERNEL=="ttyACM*", SYMLINK+="paparazzi/acm", GROUP="plugdev"
 
 LABEL="paparazzi_rules_end"
Installation/VirtualBox

==Introduction==
Running through a virtual machine (in this case Virtualbox) allows you to use Paparazzi from many different operating systems, including Windows. It is also good way to 'get your feet wet' with Paparazzi without having to get things up and running yourself.
==Installation==
#Download the Virtualbox installer for your host OS from https://www.virtualbox.org/wiki/Downloads and install.
##If you plan to program autopilots, also download the VirtualBox Extension Pack on the same page. This gives the virtual Linux machine access to your computer's USB ports.
#Download the Paparazzi virtual machine hard disk image from a secret location. Decompress the file to a convenient place - a good place is a folder called 'VirtualBox VMs' in your user folder (Linux, MacOS) or the My Documents folder (Windows).
#Open Virtualbox
#To enable USB support, install the VirtualBox Extension Pack by going to File->Preferences and clicking Extensions. Hit the 'add package' button widget (diamond w yellow triangle) on the right and choose the Extension Pack file. Click OK to close settings.
#Choose 'Add..' from the Machine menu and choose the file 'Ubuntu 12 64bit.vbox' from inside the Ubuntu 12 64bit folder you downloaded in step 3.
#A new VM should appear in the left column of the VM manager.
#Hit the big green start arrow and it should start booting. If you are running Virtualbox in Windows, MAKE SURE TO READ THE POPUPS that tell you about which key lets you jump OUT of the virtual machine - otherwise you can be 'stuck' inside since Windows hides Virtualbox the menu bar.
##In Windows 7, the default host key to 'escape' from Linux is the right CTRL key, so you press for example rctrl-C to toggle scaled view on/off, rctrl-F to toggle fullscreen, etc.
#For now you don't want to be in either of those modes since it hides the Virtualbox menu bar - so if it says its entering scaled mode, follow the directions to exit it. You should now see a grey menubar along the top that has Machine, View, Devices, and Help menus.
#Once the machine is booted up, log in with the username 'pprz' and password 'password'. 
#Once at the desktop, choose 'Install Guest Additions' from the Devices menu. Note that this is a host OS menu, not the virtual Linux OS. If you can't find this menubar, see the steps above for toggling the view.
#Click Run on the box that comes up to install guest additions - this is driver software that allows the Linux install run faster on your specific machine.
==Troubleshooting==
#(Linux/Windows host OS) If you receive an error stating that VT-x/AMD-V hardware acceleration is not operational, you may need to turn on those feature(s) in your computer's BIOS. Refer to the manual for your motherboard and look for directions relating to virtualization. For example, here is the setting in the Award BIOS.
Iris

= Introduction =
The Iris+ drone was manufactured by 3DR and is based around the Pixhawk autopilot. Paparazzi supports the Pixhawk hardware, and this page serves as simple step-by-step guide to get a Pixhawk based drone flying on with the Paparazzi autopilot. In this example, only standard Pixhawk hardware is used, as it comes delivered with the stock Iris.
=Videos=
Paparazzi UAV Iris+ Pixhawk tutorial videos - by the TU Delft MAVLab 
 
= Getting the Iris flight ready=
You'll need:
# The stock Iris drone, (equipped with the Pixhawk), 
# Its stock 3DR radio's and 3DR RC. 
# The Pixhawk should still contain the PX4 / APM bootloader. 
# A computer with Paparazzi installed.
# A micro USB cable.
# Optional: the 3DR Tarrot Gimbal and a GoPro 3.
Steps you will need to perform: 
# Plug in the USB cable to the Iris. Remove the props. Leave the battery disconnected.
# Flash both the AP and FBW. On how to flash, follow this link here
# Power cycle the Pixhawk (e.g. replug USB).
# Make sure to set the target to AP again, and build. Uploading is not necessary, this step is required to prevent md5 checksum errors.
# Plug in the 3DR radio to the computer. Select the Flight USB0 @57600 session in Paparazzi Center, and click execute. Paparazzi GCS will start.
# Calibrating the Magnetometer and calibrate the ESCs of the Iris+.
==Calibrate the ESCs==
The original PX4 firmware calibrates the ESCs automatically, paparazzi does not support this. Therefor it is needed to calibrate the ESCs manually. For this two options are available:
* Calibrate by using a servo tester (see page Actuator Dynamics)
* Calibrate using mode RC direct
The first option requires the user to have a servo tester, open up the Iris+ and disconnect wires. Therefor, this wiki describes the second option.
In order to use the RC direct mode, a change is required in the airframe xml configuration. Comment or temporarily remove the following line:
Optionally: change the following lines in the section AUTOPILOT:
to:
This last step is not required, but properly communicates the new mode to the GCS software.
 Important: for safety it is strongly recommended to remove the propellers 
Build and upload the FBW firmware, and if the optional steps were taken, also build and upload the AP. 
The system is now ready to calibrate the ESCs. Perform the following steps:
* Power off the Iris+
* On the RC
** Set the set radio mode (switch 3 in figure 2) to std
** Disable manual kill by setting the kill switch (switch 1 in figure 2) to on
** Put the throttle to max.
** Turn on the RC
* Plug in the usb cable to the Iris+. The AP can now boot. 
* Wait approximately 10 seconds until the leds blinks slow (once per second).
* Plug in the battery to the Iris+ (with props removed!). You should hear a beep coming from the ESCs.
* On the RC, put the throttle to zero. You should hear confirmation beeps from the ESCs.
* Validate the range of the throttle stick by slowly throttling up to max. The motors should spin accordingly.
* Revert the changes made to the airframe xml, and upload the firmware(s).
Ivy

Ivy is a Publish-Subscribe (or pub/sub) bus used in Paparazzi to link the different components of the ground network together. See System Architecture and DevGuide/Server_GCS_com for a general overview of its role in the Paparazzi UAS.
Ivy is text-based (ASCII) and features regular expression based message subscription. Software applications employing Ivy announce their presence on the local network by UDP broadcast and share subscriptions. All messages are communicated thereafter via direct TCP connections. While the traffic is TCP, the use of UDP protocol for broadcast announcements requires that peers reside within the same network subnet.
Paparazzi software applications default to binding to locahost and thus unable to communicate with peers residing elsewhere on the local area network. Ivy and subsequently the paparazzi software applications can be directed to bind to a local network interface instead, thereby permitting LAN communication with peers by simply supplying a bus designation command-line argument shown below. These can be saved in a Paparazzi Center session for persistence.
Including the libivy headers and library and using a predefined set of messages, it is possible for any software component to take part in communication in a Paparazzi biotope. Ivy, the protocol itself is developed independently of the Paparazzi project and can be obtained along with examples and documentation from https://ivybus.gitlab.io/ .
== Ivy Networks ==
=== Binding Ivy Networks ===
Ivy defaults to UDP port 2010 if a port is not specified. Port is specified by :PORTNUMBER suffix on network.
Examples:
192.168.0.0/24 (192.168.0.x network) UDP/2010; The following are all valid:
 program -b 192.168.0.255
 program -b 192.168.0.255:2010
 program -b 192.168.0
 program -b 192.168.0:2010
10.0.0.0/8 (10.x.x.x or 10.255.255.255); The following are all valid:
 program -b 10
 program -b 10:2010
 program -b 10.255.255.255
 program -b 10.255.255.255:2010
=== Extending Ivy Networks ===
Ivy requires that all peers in the network reside within the same local area network (it does not support routing). This can be solved by two different approaches.
==== 1 - Virtual Private Network (VPN) ====
By employing a standard IP VPN, remote hosts may communicate within the Ivy network permitting the VPN configuration is BRIDGED and not ROUTED. Many (routed) VPN configurations provide a network subnet for VPN clients and then route the traffic to the remote network. While this is approach is inline with best practices for IT systems, it does not permit Ivy to operate.
==== 2 - Ivy Network Bridging ====
TCP Aircraft Server
-- looking for more information
== Tools ==
=== Ivyprobe ===
Ivyprobe is a command-line tool for sending and receiving messages on the Ivy bus. This tool is useful for monitoring and troubleshooting an Ivy bus in the same way an Ivy client would behave, with custom regexp match filters.
Run it with the -h option to display the help:
 $ ivyprobe -h
E.g. to simply display all messages:
 $ ivyprobe '(.*)'
Category:Communication
JSBSim

Simulation
__TOC__
JSBSim is an open source flight dynamics model (FDM) used in NPS.
== Installation ==
=== Debian Package ===
On Debian/Ubuntu you can install the paparazzi-jsbsim package.
 sudo apt-get install paparazzi-jsbsim
If you don't have that in your sources, see Installation/Linux#Adding_the_APT_repository
=== From Source ===
Compile JSBSIM from source (with specified date to make sure it works and API hasn't changed)
 cvs -z3 -d:pserver:anonymous@jsbsim.cvs.sourceforge.net:/cvsroot/jsbsim co -D "23 Feb 2015" -P JSBSim 
 cd JSBSim
 ./autogen.sh
 ./configure --enable-libraries --enable-shared --prefix=/opt/jsbsim
 make
 sudo make install
When building a NPS simulator target, the build system will first try to find JSBSim via pkg-config and fall back to /opt/jsbsim.
If you want to install to a different location, change the prefix to your liking.
And you need to add a <makefile> section to your airframe file and add the correct flags to point to the include files and libraries, depending on where it is installed.
With the default installation to /usr/local/, this would look like
 <makefile location="after">
 nps.CFLAGS += -I/usr/local/include/JSBSim
 nps.LDFLAGS += -L/usr/local/lib
 </makefile>
=== On OSX ===
* Install the JSBSim libraries onto your system. This should already be installed with paparazzi-tools, but if it isn't:
 $ sudo port install jsbsim
It uses code from the cvs repo, so it should be the most up-to-date source.
== Troubleshooting ==
* If you get an error like "undefined reference to `pcre_compile'", edit file conf/Makefile.jsbsim, look for the line that begins with LDFLAGS and add -lpcre, e.g.:
 LDFLAGS += $($(TARGET).LDFLAGS) -lpcre
Category:Simulation Category:Software Category:User_Documentation
Jet powered

The glider is an ASW-15.
Parameters:
Weight: 15kg
Wingspan: 5m
Vmax: 350km/h
Trust: 19kg
AP: Twog 1.0 and Tiny 2.1.1
GPS: 1.3 patch and sarantel
IR: original pprz 3.3V type
Image:DSCF1520_small.JPG
Image:DSCF1308_small.JPG
Many thanks for the pprz team!
SilaS
Category:Airframes
Kinomap

Tools
__TOC__
The Kinomap website allows people to share videos with gps track information. The Kinomap uploader application (windows only) requires an NMEA log file and the video file. Converting the paparazzi log file to nmea is currently done using a perl script in SVN: sw/in_progress/log_parser
Examples of paparazzi kinomap tracks:
: 1. UAV Show Europe 2010 Camp de Souge near Bordeaux. Funjet 
: 2. Aerotop 2010 Poitier Airport. Funjet
==Steps to prepare:==
===Install gpsbabel:===
sudo apt-get install gpsbabel 
or 
download tar.gz from gpsbabel.org (I got 1.4.1) and compile 
===Install perl and necessary libraries:===
sudo apt-get install perl libgeo-coordinates-utm-perl
==Steps to do the conversion:==
> cp logfile.data sw/in_progress/log_parser
> cd sw/in_progress/log_parser
> ./log2nmea logfile
At this point you can also run nmea2kml.sh to get a 3d kml file for viewing in google-earth
>./nmea2kml logfile.nmea
===Notes===
Before importing into the uploader application, pass the nmea file through the kinomap gps file fixer application.
===Logo===
Adding a logo can be accomplished using mencoder using the following script:
insert here
The transparent ENAC/Paparazzi logo is here: 
Category:Tools Category:User_Documentation
Krooz

Autopilots
__TOC__
= Overview =
Krooz UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual Rotorcraft size.
== Features ==
Krooz is based on the 64 pins STM32F405RGT6 Cortex M4 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.
* STM32 microcontroller STM32F405RGT6 datasheet with 1024kB flash and up to 192kB RAM
* MPU6050 Gyro/Accelerometer sensor
* MRF24WB0 WiFi or 
* BTM-222 Bluetooth (wire or external antenna connector) or
* XBee Pro module on board.
* MS5611 high precision Pressure sensor
* MAX7456 OSD module for mixing in a flight data into a camera video screen
* 7 x Analog input channels
* 4 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PPM outputs (or 10 if using PPM output receiver)
* 1 x I2C 5V bus
* 1 x Micro USB
* Extra camera control 3 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* ~50mm x ~50mm x ~10mm
* 2 layers PCB design
So, except for a GPS unit with the Krooz you have all necessary sensors for full features all in one rotorcraft solution.
== Usage scenarios ==
Krooz can be used in different telemetry versions:
* with the on-board MRF24WB0 WiFi module
* with the on-board BTM-222 Bluetooth module
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.
= Hardware design =
== Pinout ==
= Programming =
== Bootloader ==
"Krooz" uses an own KroozDFU bootloader (based on libopencm3 project). 
You can find it here, clone to your PC an build or use a precompiled binary file to upload. However the Krooz board is shipped with the KroozDFU bootloader by default.
== Source code ==
The Krooz source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from here
Category:Autopilots
LAAS Mentor

=LAAS Mentor Planes=
==Mentor1==
Airframe : EPP Foam Multiplex Mentor 
Motor : AXI 2820/10 Gold Link
Motor Controller : Flash 44 K3 Opto
===Weight Distribution===
====Payload Weights====
-
Description	Weight (grams)
Hokuyo 	
250
XSens MTIG	
65
Overo / Summit / USB Hub / Case	
72
Wifi Antenna with pigtail	
15
2x 2s 780 mAh batteries	
91
2x switching power supplies (5V, 12V)	
20
XBee Pro with 3.3V regulator	
10
Foam and glass fiber Enclosure	
95
Wood Chassis	
42
USB to Serial convertor with MTI connector	
20
TOTAL 	
680
====Overall Weights====
-
Description	Weight (grams)
Wings plus 2x Aileron Servos	
400
Fuselage with XBee/Autopilot/IR sensors/receiver/Motor/Speed Controller/2x Servos	
1156
Prop and holder	
57
2x 3s 2100mAh batteries	
314
Science Payload	
680
TOTAL 	
2607
==Mentor2==
Not yet constructed
Category:User_Projects
Laird RM024 setup

This Page describes the Setup of the Laird RM024 Modem.
==Connect both Modems==
# Connect both Modems to the PC via UART, remember which modem is on which COM port	
# Laird software > pc settings tab	
# Select RM024 in the product drop down menue
# Find Ports
# Port1 > first Modem (this will be Server (GCS) further down)
# Change baud rate (115200 is factory configuration, Paparazzi standard is 57600)
# Enable Port2 checkbox
# Port2 > second Modem (this will be Client (UAV) further down)
# Change baud rate
== Basic setup ==
This simple setup allows a transmission between a server and at least one client modem with the same System ID and Channel.
# Configure tab > set to Port1 (bottom left)
# Read Radio
# Change Baud rate to 57600 (Paparazzi standard)
# Change Mode to Server, Select Broadcast under Radio Features
# Choose RF profile with low speed (280kbps) for long range (default)
# Set Channel and System ID number (must be the same at the other Modem)
# Write Radio
# Set to Port2 (on the bottom left)
# Repeat step 2 to 7 but this time use Client mode and Auto Destination under Radio Features(not Broadcast)
# Move the radios at least 5 feet apart (according to Laird User Manual)
== Transparent mode ==
The transparent mode is different from the XBee modems transparent mode. It will only allow two modems to communicate with each other. The target modem is set via the MAC adress in the EEPROM of the opposite. Only these two modems can communicate with each other, other modes can not disrupt the communication.
Both Modems need to bet on the same Channel and System ID
# Configure tab > set to Port1 (bottom left)
# Read Radio
# Show Default
# Set baud rate to 57600 (Paparazzi standard)
# Set Server Mode
# Write Radio
# Repear step 2 to 5 on Port 2, Client modem
# Pairing
== API mode ==
In this mode, the destination Modem is choosen with th MAC adress.
This is just a copy of the old setup from the modems page
We need at least a simple form of address resolution as the modems own (MAC) address can not be changed. This makes the ground station link and on-board software a little more complicated than the XBee API mode.
 tbd
==Testing the Setup==
# Range Test tab > select transmitting direction (Port 1 <-> Port 2 for bidirectional test)
# Create Data (the number defines the lengh of the random created string)
# Select Continuous checkbox
# Click Run (F10)
==Additional (required) Settings==
These Settings can be set in every operation mode and maybe are set by your state.
===Max Power===
Take a look at the Modems#Frequencies AND competent authority.
Sending on wrong frequencies or with a higher power can cause serious problems with your state.
===Hops===
43 Hops for CE (Europe)
79 Hops for FCC (USA)
===Antenna===
If a external Antenna is used "Antenna Select" MUST be set !
Without this setting the modem can not work properly, even a human hand can disrupt the communication !
Category:Software