nyuuzyou/wikis huggingface dataset:
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Messages Alignment

Alignment for uplink/datalink messages:
e.g. 
 32bits --> [ 8 ][ 16 ][ 24 ][ 32 ]
CORRECT
 PAYLOAD = { [ char ][ uint16 ][ int8 ]
 [ uint32 ]
 [ uint8 ][ uint8[0] ][ uint8[1] ][ uint8[2] ]
 [ uint8[3] ][ int16 ][ length ]
 [ uint16[](1) ][ uint16[](2) ]
 [ uint16[](3) ]...
INCORRECT
 PAYLOAD = { [ char ][ uint16 ][ ...
 ... uint32 ][ int8 ]
Messages Format

=Introduction=
Messages Format and how to use them
For the message definitions see http://docs.paparazziuav.org/latest/paparazzi_messages.html
=Types=
==Paparazzi "PPRZ" standard message for direct serial connection== 
===Pprzlink v1.0===
 PPRZ-message: ABCxxxxxxxDE
 A PPRZ_STX (0x99)
 B LENGTH (PPRZ_STX->PPRZ_CHECKSUM_B)
 C PPRZ_DATA
 0 SENDER_ID
 1 MSG_ID
 2 MSG_PAYLOAD
 . DATA (messages.xml)
 D PPRZ_CHECKSUM_A (sum[B->C])
 E PPRZ_CHECKSUM_B (sum[ck_a])
===Pprzlink v2.0===
Note that there is currently no explicit way to recognize whether the protocol is v1.0 or 2.0 so it has to be known before the communication.
 PPRZ-message: ABCxxxxxxxDE
 A PPRZ_STX (0x99)
 B LENGTH (A->E)
 C PPRZ_DATA
 0 SOURCE (~sender_ID)
 1 DESTINATION (can be a broadcast ID)
 2 CLASS/COMPONENT
 bits 0-3: 16 class ID available
 bits 4-7: 16 component ID available
 3 MSG_ID
 4 MSG_PAYLOAD
 . DATA (messages.xml)
 D PPRZ_CHECKSUM_A (sum[B->C])
 E PPRZ_CHECKSUM_B (sum[ck_a])
==XBee API format==
 XBee-message: ABCDxxxxxxxE
 A XBEE_START (0x7E)
 B LENGTH_MSB (D->D)
 C LENGTH_LSB
 D XBEE_PAYLOAD
 0 XBEE_TX16 (0x01) / XBEE_RX16 (0x81)
 1 FRAME_ID (0) / SRC_ID_MSB
 2 DEST_ID_MSB / SRC_ID_LSB
 3 DEST_ID_LSB / XBEE_RSSI
 4 TX16_OPTIONS (0) / RX16_OPTIONS
 5 PPRZ_DATA
 0 SENDER_ID
 1 MSG_ID
 2 MSG_PAYLOAD
 . DATA (messages.xml)
 E XBEE_CHECKSUM (sum[D->D])
 
 ID is AC_ID for aircraft, 0x100 for ground station
==Telemetry storage format for data logger==
 TLM-message: ABCDEFGHxxxxxxxI
 A PPRZ_STX (0x99)
 B LENGTH (H->H)
 C SOURCE (0=uart0, 1=uart1, 2=i2c0, ...)
 D TIMESTAMP_LSB (100 microsecond raster)
 E TIMESTAMP
 F TIMESTAMP
 G TIMESTAMP_MSB
 H PPRZ_DATA
 0 SENDER_ID
 1 MSG_ID
 2 MSG_PAYLOAD
 . DATA (messages.xml)
 I CHECKSUM (sum[B->H])
Category:Software Category:Developer_Documentation
MeteoStick v1.00

MeteoStick is a temperature, humidity, absolute pressure (barometer) and differential pressure (airspeed/pitot) precision measurement board.
Payloads
left|600px|MeteoStick v1.00 top side
= Hardware Revision History =
Version #	Release Date	Release Notes
v1.00 	11/2014 	Initial release of MeteoStick
= Features =
Temperature
:* designed for standard external PT1000 RTD temperature sensor
:* 24bit resolution ADC (SPI)
Humidity
:* designed for IST P14 (Rapid/Femtocap) external capacitive humidity sensor
:* Humidity controlled oscillator (square wave)
Baro-Altimeter
:* inboard MPXH6115AC6U Freescale absolute pressure sensor
:* 24bit resolution ADC (SPI)
Airspeed
:* inboard MPXV5004DP Freescale differential pressure sensor
:* 24bit resolution ADC (SPI)
Calibration parameters
:* 256kbit(64byte) non-volatile memory for sensor calibration values
Power Supply
:* 7 to 20v (3-4 Lipo cells)
= Pictures =
Image:MeteoStick_v100_3D_top.jpg|MeteoStick v1.00 3D top view
= Pinout =
Pins Name and Type are specified with respect to the MeteoStick Board
Power SUPPLY
Pin #	Name	Type	Description
1 	GND 	PWR 	Common Ground
2 	VBAT	PWR 	+7 to 20V Power Supply (3-4 Lipo Cells)
CONTROL
Pin #	Name 	Type	Description
1 	GND 	PWR 	Common Ground
2 	CS BARO 	IN 	Barometer ADC Chip Select (Active Low)
3 	CS PITOT	IN 	Airspeed/Pitot ADC Chip Select (Active Low)
4 	CS TEMP 	IN 	Temperature ADC Chip Select (Active Low)
5 	CS MEM 	IN 	EEPROM Memory Chip Select (Active Low)
6 	SCLK 	IN 	SPI Clock Input (Clock Output from Master)
7 	MOSI 	IN 	SPI Master Out Slave In. MeteoStick Data Input (Data Output from Master)
8 	MISO 	OUT 	SPI Master In Slave Out. MeteoStick Data Output (Data Input from Master)
9 	HUM 	OUT 	Humidity Controlled Oscillator Output
SENSORS
Pin #	Name 	Type	Description
1 	TEMP SENS	IN 	Temperature Sensor Input (PT1000 RTD)
2 	TEMP SENS	IN 	Temperature Sensor Input (PT1000 RTD)
3 	HUM SENS 	IN 	Humidity Sensor Input (P14 Capacitive)
4 	HUM SENS 	IN 	Humidity Sensor Input (P14 Capacitive)
= Schematic =
= PCB =
== Gerber & Drill Files ==
2 Layers PCB design Eurocircuits 6-C class compliant:
Download MeteoStick v1.00 gerber & drill files (zip)
RS274X, units = Inches, format = 2:5
:*MeteoStick_v100_Silkscreen_Top.GBR (Top Print Layer)
:*MeteoStick_v100_Soldermask_Top.GBR (Top Solder Mask)
:*MeteoStick_v100_Paste_Mask_Top.GBR (Top Paste Mask, stencil)
:*MeteoStick_v100_Signal_Top.GBR (Top Copper Layer)
:*MeteoStick_v100_Signal_Bottom.GBR (Bottom Copper Layer)
:*MeteoStick_v100_Soldermask_Bottom.GBR (Bottom Solder Mask)
:*MeteoStick_v100_Outline.GBR (Board Outline)
:*MeteoStick_v100_Drill.GBR (NC XY coordinates & Drill tools sizes)
= Assembly =
== Components Layout ==
Image:MeteoStick_v100_2D_top_components.png|MeteoStick v1.00 top components Layout
Image:MeteoStick_v100_top_components.png|MeteoStick v1.00 top components detail
= Mechanical Dimensions =
= Previous Versions =
Category:Payloads
Module/ADC generic

Modules
If you want to receive the value of some ADC channel, you can use the "ADC Generic" module. When activated, the aircraft sends 2 values corresponding to the selected ADC channels. They can be read from the "Messages" application.
Add the adc_generic to your modules:
In this example, the ADC channels 3 and 4 are read and sent by telemetry at 4Hz:
 <message name="ADC_GENERIC" ID="18">
 <field name="val1" type="uint16"/>
 <field name="val2" type="uint16"/>
 </message>
Only one or two channels can be defined. If only one is activated, 0 will be sent for the unused value.
Category:User_Documentation Category:Modules
Module/AOA adc

Modules
== Introduction ==
AOA_adc is a simple module that has been written to test the flight behaviour with a Angle Of Attack sensor. 
It reads the value of an defined ADC port and converts it to an angle. 
=== Implementation option A ===
A mode variable named h_ctl_pitch_mode in the stabilization_attitude.c enables to switch between estimator_theta (IMU) and estimator_AOA to control the elevator.
=== Measurements ===
{TODO: description}
== Hardware ==
{TODO: image}
Angle of Attack ADC Sensor
*US DIGITAL MA3-A10-236-N
If you are using the analog version of this sensor, be sure to connect it to a 5V tolerant ADC on you autopilot. For instance ADC2 on Lisa/M is not 5V tolerant, so a voltage divider is needed to scale the signal down to 3.3V.
ModuleXML
*AOA_adc.xml 
Code- and headerfile
*sw/airborne/modules/sensors
Settings file
*AOA_adc.xml
== Airframe Adjustments ==
* (1) Insert the software module in the airframe:
 <modules>
 <load name="AOA_adc.xml"> 
 <configure name="ADC_AOA" value="ADC_6"/>
 <define name="AOA_OFFSET" value="-0.135000005364"/> 
 <define name="AOA_FILTER" value="0.875999987125"/> 
 <define name="USE_AOA"/> 
 </load> 
 </modules>
* Legend:
**The ACS_AOA defines on whitch port the US Digital Sensor is connected to.
**The AOA_OFFSET is needed to adjust the Zero rad mark in the normal flightposition. It can be changed with the AOA_adc.xml settings loaded.
**The AOA_FILTER describes the PT1 filter value of the angle. 0 = no filter
**Define USE_AOA to make the module work.
* (2) Load the settings XML in the GCS: AOA_adc.xml
* (3) Now you can turn on the pitch stabilization by setting the PITCH_Mode to 1
** PITCH_Mode = 0 --> estimator_thata from IMU (default)
Category:Modules
Module/Aeroprobe OTF

__NOTOC__
== Overview ==
The Aeroprobe On-The-Fly! air data computer measures air pressure from a 5-hole pitot tube and can write resulting data to an SD card or transmit it through an UART. It outputs speed, angle of attack, angle of sideslip and altitude. The air data computer input "1" goes to the middle tube of the probe, the longest one. The next shorter one goes to "2", then "3" and so on.
Module name 	sensors/airspeed_otf
Sensor type 	airspeed, flow angle
Range (speed) 	8m/s .. 63m/s
Range (angle) 	±20°
Resolution (speed)	0.02m/s
Resolution (angle)	0.01°
Refresh rate 	100Hz
User manual
== Hardware ==
The air data computer needs to be configured by the manufacturer to output data at the desired speed. The serial interface does have original RS-232 levels, that is not compatible with the autopilots 3.3V interface. You need a RS-232 level shifter. Do not use a simple transistor-based converter like the Sparkfun PRT-08780 as it can not safely be driven by the Aeroprobe. Use a integrated converter like the MAX3232 based Sparkfun BOB-11189.
Air data computer/pitot tube supplier:
Aeroprobe
RS232 level shifter supplier:
Sparkfun
OTF connector supplier:
Farnell
=== Wiring Umarim ===
Umarim UART1 pin	Umarim UART1	Level shifter LOGIC
1 	GND 	GND
2 	 	
3 	+3.3V 	VCC
4 	RX1 	R1OUT
5 	TX1 	T1IN
=== Wiring Logger/TWOG ===
TWOG SERIAL pin	TWOG SERIAL	Level shifter LOGIC
1 	GND 	GND
2 	 	
3 	+3.3V 	3V-5.5V
4 	 	
5 	 	
6 	 	
7 	RXD1 	R1OUT
8 	TXD1 	T1IN
=== Common wiring===
BEC Power supply	OTF 	OTF pin
+ 	+VCC	1
- 	GND 	2
color 	Level shifter RS-232	OTF 	OTF pin
red 	R1IN 	TX (data out)	3
orange	T1OUT 	RX (data in) 	4
black 	GND 	GND 	5
== Ground usage ==
This is for the lab only, not for flight. The modem serial port of an Umarim will be occupied by the OTF! compter. Therefore the data is transferred through USB.
To use it load the airspeed_otf module:
The used UART has to be set globally:
===Result message (old) ===
The output is airspeed (velocity), angle of attack (a_attack), angle of sideslip (a_sidesl) and altitude. The data is secured by a packet counter and a checksum.
Sample log file lines
 11.522 123 FLOW_AP_OTF 1076 1480 628 1636 -100 2
 11.535 123 FLOW_AP_OTF 1077 1457 735 1707 900 29
 11.548 123 FLOW_AP_OTF 1078 1451 661 1867 800 19
 11.555 123 FLOW_AP_OTF 1079 1422 697 1685 -300 11
===Result message (new) ===
The output is airspeed (velocity), angle of attack (a_attack), angle of sideslip (a_sideslip) and altitude. Dynamic and static pressure are always zero for this sensor. The data is secured by a packet counter and a checksum.
Sample log file lines
 11.522 123 AEROPROBE 1076 1480 628 1636 -100 0 0 2
 11.535 123 AEROPROBE 1077 1457 735 1707 900 0 0 29
 11.548 123 AEROPROBE 1078 1451 661 1867 800 0 0 19
 11.555 123 AEROPROBE 1079 1422 697 1685 -300 0 0 11
Category:User_Documentation Category:Modules
Module/Bosch BMP085

__NOTOC__
== Overview ==
The Bosch BMP085 is a barometer/pressure sensor. There is an alternative float number implementation available that seems to offer less noise, not implemented yet.
The device was tested in a simple static noise comparsion setup.
Module name 	sensors/baro_bmp
Sensor type 	barometer, temperature
Range (baro) 	30 kPa .. 1100 kPa
Range (temp) 	-40°C .. +85°C
Resolution (baro)	3 Pa
Resolution (temp)	0.1°C
Refresh rate 	8Hz
I2C address 	0xEE
Product home page
Product data sheet
== Hardware ==
The sensor directly interfaces to the 3.3V I2C port of the autopilots and is supplied by +3.3V.
Supplier:
Sparkfun
=== Wiring ===
Autopilot I2C pin	Autopilot I2C	Bosch BMP085
1 	GND 	GND
2 	 	
3 	+3.3V 	VCC
4 	SDA 	SDA
5 	SCL 	SCL
== Usage ==
To use it load the baro_bmp module:
=== Configuration ===
To see the sensors data in the log file every time new data is available, set SENSOR_SYNC_SEND in your airframe file.
If you omit SENSOR_SYNC_SEND from your airframe file, you will still get the data, but at 1/10 of the available rate.
===Result message===
The raw data (UP/UT) and the converted result (press/temp) is written to the log file.
Sample log file lines
 8.272 123 BMP_STATUS 336765 28975 98628 219
 8.507 123 BMP_STATUS 336765 28973 98629 219
 8.741 123 BMP_STATUS 336775 28975 98629 219
 8.973 123 BMP_STATUS 336778 28973 98630 219
Category:User_Documentation Category:Modules
Module/Freescale MPL3115A2

__NOTOC__
== Overview ==
The Freescale MPL3115A2 is a barometer/pressure sensor.
The device was tested in a simple static noise comparsion setup.
Module name 	sensors/baro_mpl3115
Sensor type 	barometer, temperature
Range (baro) 	30 kPa .. 1100 kPa
Range (temp) 	-40°C .. +85°C
Resolution (baro)	0.25 Pa
Resolution (temp)	0.01°C
Refresh rate 	5Hz
I2C address 	0xC0
Product home page
Product data sheet
== Hardware ==
The sensor directly interfaces to the 3.3V I2C port of the autopilots and is supplied by +3.3V.
Supplier:
Sparkfun
=== Wiring ===
Autopilot I2C pin	Autopilot I2C	Freescale MPL3115A2
1 	GND 	GND
2 	 	
3 	+3.3V 	VCC
4 	SDA 	SDA
5 	SCL 	SCL
== Usage ==
To use it load the baro_mpl3115 module:
=== Configuration ===
To see the sensors data in the log file set the SENSOR_SYNC_SEND in your airframe file. Every time new data is available it will be sent directly. For pressure reading instead of altitude set MPL3115_ALT_MODE to zero.
===Result message===
Unfortunately only the raw values are written to the log file (to be changed), they need to be multiplied by the coefficient given in conf/messages.xml.
Sample log file lines (pressure mode)
 18.840 123 MPL3115_BARO 395099 353 0.
 19.041 123 MPL3115_BARO 395143 353 0.
 19.243 123 MPL3115_BARO 395142 353 0.
 19.440 123 MPL3115_BARO 395130 353 0.
Category:User_Documentation Category:Modules
Module/Honeywell HIH-4030

__NOTOC__
===Overview===
The Honeywell HIH-4030 is a simple relative humidity sensor. It outputs an analog voltage and needs an additional temperature sensor for compensation. The sensor was flown only once for testing...
Module name 	meteo/humid_hih
Sensor type 	humidity
Range 	0 .. 100 %RH
Resolution 	? %RH
Refresh rate	4Hz
Product data sheet
===Hardware===
Supply the sensor with 5V and connect the output with an ADC input through a 68kOhm/36kOhm resistor bridge. Standard pin is ADC_3 (AD0.6) on ADC1/J10 for the Tiny/TWOG. We used the temperature sensor part of the SHT75 for compensation.
Supplier:
Sparkfun
==== Wiring ====
Tiny/TWOG ADC1 pin	Tiny/TWOG ADC1	HIH-4030
1 	GND 	GND
2 	+5V 	5V
3 	 	
4 	 	
5 	ADC3 (P0.30) 	OUT (through resistor bridge)
===Usage===
To use the humidity sensor add:
The ADC pins can be configured through defines, e.g.:
===Result message===
The raw data (humid) and the converted result (fhumid/ftemp) is written to the log file. The message is automatically sent when new data is received, it does not have to be added to the telemetry file.
Sample log file lines
 (none)
Category:User_Documentation Category:Modules
Module/Hygrosens TEMOD-I2C-R1

__NOTOC__
===Overview===
The Hygrosens TEMOD-I2C-R1 is a converter board to measure temperature by a PT1000 sensor and output the data through an I2C interface. It is the standard fast temperature sensor for the SUMO.
There are -R2 (-32°C .. +224°C) and -R3 (-32°C .. +480°C) modules available that have a higher maximum temperature but lower resolution.
Module name 	meteo/temp_temod
Sensor type 	temperature
Range 	-32°C .. +96°C
Resolution 	(1/256)°C
Refresh rate	8Hz
I2C address 	0xF0
Product data sheet
Hygrosens product homepage
Heraeus PT1000
===Hardware===
The data sheet mentions a minimum supply voltage of 6V but it seems to work ok with 5V. The board does have a 5V I2C interface. It can not be directly interfaced to the Paparazzi autpilot 3.3V I2C interfaces. A level shifting adapter board is needed. The PT1000 sensor is not included with the module. The Heraeus M222 sensor is used as it has a small mass.
Module supplier:
Conrad
Level shifter supplier:
Sparkfun
PT1000 sensor supplier:
Conrad
==== Wiring ====
Autopilot I2C pin	Autopilot I2C	Level Shifter	TEMOD-I2C-R1	TEMOD-I2C-R1 pin
1 	GND 	LV_GND 	 	
2 	+5V 	HV_HV 	Vdd 	1
3 	+3.3V 	LV_LV 	 	
4 	SDA 	LV_TXI_Chan1 	 	
5 	SCL 	LV_TXI_Chan2 	 	
 	 	HV_GND 	GND 	2
 	 	HV_TXO_Chan1 	SDA 	3
 	 	HV_TXO_Chan2 	SCL 	4
===Usage===
To use the temperature sensor add the module to your airframe file.
The standard module is the TEMOD-I2C-R1 with the highest resolution. The -R2/-R3 type can be configured.
===Result message===
The raw data (itemp) and the converted result (temp) is written to the log file. The message is automatically sent when new data is received, it does not have to be added to the telemetry file.
Sample log file lines
 5.980 123 TMP_STATUS 13486 20.68
 6.081 123 TMP_STATUS 13483 20.67
 6.106 123 TMP_STATUS 13486 20.68
 6.313 123 TMP_STATUS 13489 20.69
===NOTES===
The location of the sensor on the aircraft does matter. There are various papers that analyze the best location. So far we have installed them within tubes (to protect from sunlight/heating) on the wings. That might not be the optimum place.
Category:User_Documentation Category:Modules
Module/IST DigiPicco

__NOTOC__
==Overview==
The IST DigiPicco is a relative humidity and digital temperature sensor. Adaption speed was ok at very low temperatures and perfect in summer temperatures.
Module name 	meteo/humid_dpicco
Sensor type 	humidity, temperature
Range (humidity) 	0 .. 100 %RH
Range (temperature) 	-40°C .. +125°C
Resolution (humidity) 	? %RH
Resolution (temperature)	?°C
Refresh rate 	4Hz
I2C address 	0xF0
Product data sheet
==Hardware==
The sensor board can be directly interfaced to the autopilots I2C 3.3V interface
Supplier:
Farnell
=== Wiring ===
Autopilot I2C pin	Autopilot I2C	DigiPicco	DigiPicco pin
1 	GND 	GND 	W8
2 	+5V 	Vcc+ 	W10
3 	 	 	
4 	SDA 	SDA 	W4
5 	SCL 	SCL 	W3
==Usage==
To use the humidity sensor add:
===Result message===
The raw data (humid/temp) and the converted result (fhumid/ftemp) is written to the log file. The message is automatically sent when new data is received, it does not have to be added to the telemetry file.
Sample log file lines
 14.712 123 DPICCO_STATUS 10628 12005 32.44 20.45
 14.963 123 DPICCO_STATUS 10628 12005 32.44 20.45
 15.212 123 DPICCO_STATUS 10615 12005 32.4 20.45
 15.464 123 DPICCO_STATUS 10589 12005 32.32 20.45
Category:User_Documentation Category:Modules
Module/LM75

__NOTOC__
==Overview==
The National LM75 (now Texas Instruments LM75A) is an affordable temperature sensor that could be used e.g. to measure battery temperature.
Module name 	meteo/temp_lm75
Sensor type 	temperature
Range 	-55°C .. +125°C
Resolution 	0.5°C
Refresh rate	3Hz
I2C address 	0x90
TI product homepage
==Hardware==
The LM75 can be directly interfaced to the Paparazzi autpilot 3.3V I2C interfaces.
=== Wiring ===
Autopilot I2C pin	Autopilot I2C	LM75
1 	GND 	GND
2 	 	
3 	+3.3V 	+Vs
4 	SDA 	SDA
5 	SCL 	SCL
==Usage==
To use the temperature sensor add the module to your airframe file.
===Result message===
The raw data (itemp) and the converted result (temp) is written to the log file. The message is automatically sent when new data is received, it does not have to be added to the telemetry file.
Sample log file lines
 2.663 TMP_STATUS 123 45 22.5
 2.908 TMP_STATUS 123 46 23.
 3.333 TMP_STATUS 123 47 23.5
 3.665 TMP_STATUS 123 47 23.5
Category:User_Documentation Category:Modules
Module/Mag HMC58xx

Modules
= Introduction =
Paparazzi allows the use of external Magnetometers. This module supports the use of the Honeywell HMC5843 and HMC5883 magnetometers.
These magnetometers can be connected to your autopilot board via i2c.
You will need to specify the AHRS_XXX_MAG_ID value. See AHRS External Sensors
Recently, the module is being used like the below example, see how the channel order and the signs can be changed :
 <module name="mag" type="hmc58xx">
 <configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
 <define name="MODULE_HMC58XX_UPDATE_AHRS"/>
 <define name="HMC58XX_CHAN_X" value="0"/>
 <define name="HMC58XX_CHAN_Y" value="1"/>
 <define name="HMC58XX_CHAN_Z" value="2"/>
 <define name="HMC58XX_CHAN_X_SIGN" value="+"/>
 <define name="HMC58XX_CHAN_Y_SIGN" value="+"/>
 <define name="HMC58XX_CHAN_Z_SIGN" value="-"/>
 </module>
Category:User_Documentation Category:Modules