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SDLogger SPI Direct

=Introduction=
The direct SPI SD Logger is originally designed to be used with the Lisa/S, but should also be compatible with other supported autopilots. It connects directly to the SPI bus of the autopilot and communicates using the SDCards SPI interface. This method is slower than when using it in SD mode, but the speed is sufficient to log IMU data at 512 Hz.
=Hardware=
== Installation ==
The SD Card needs to be connected to the SPI bus of the autopilot. The pinout for an SD Card is shown in the figure.
* VSS = Ground
* VDD = 3.3V
 
== KroozSD ==
The KroozSD(BRE) board has a built in SD card slot connected over SPI bus to the controller. So all you need is to add the following:
 <load name="logger_sd_spi_direct.xml">
 <configure name="SDLOGGER_DIRECT_SPI" value="SPI1"/>
 <configure name="SDLOGGER_DIRECT_SPI_SLAVE" value="SPI_SLAVE0"/>
 <configure name="SDLOGGER_DIRECT_CONTROL_SWITCH" value="RADIO_CAM"/>
 <configure name="LOGGER_LED" value="3"/>
 </load>
to the modules section of your airframe file, choose the mx-16.xml as radio setup and insert the SD card into the board. In this case the logging should be started/stopped over the 8th channel of your radio control (set the proper switch on the 8th channel of your sender).
== Lisa/SD ==
A SuperbitRF-sized PCB connects the SD card to the Lisa/S. Additionally, this PCB has pads to connect a Deltang R31d RC receiver and a molex connector for general purpose.
=Software=
=Retrieving the data=
A logger is of no use if one can not easily retrieve the logged data. To make this a simple reality there is an app for that. 
# Connect the FTDI cable to the computer and autopilot.
# Plug the battery or external power to the autopilot.
# Start the logger download tool.
The tool is found in this directory : sw/logalizer 
So a simple
 cd ~/paparazzi/sw/logalizer/ && ./sdlogger_download -a <AC_ID> -p /dev/ttyACM1 -b 115200
where <AC_ID> is your aircraft ID, would start the process of reteiving the data from the SD card to your local machine, ready for you to use.
Category:Modules
STM32F429I Discovery

Autopilots
__TOC__
==Overview==
The LCD and RAM require nearly all of the pins and no one has testet this board / or ported paparazzi to it
* STMicroelectronics STM32F429ZIT6 Cortex M4 MCU, up to 168Mhz with floating point unit (FPU), 256 KB external SDRAM with 64 Mbits, 2048 KB Flash
* on-board STLinkv2 with SWD header (capable of programming itself or an external MCU)
* ob-board power regulator for the MCU (3V or 5V input)
* 1 x user push button
* 2 x LED (green, red) 
* x x UART 
* x x SPI
* x x I2C
* 1 x PPM input
* x x ADC input, which one is used for bat voltage
* 119,3 x 66 mm PCB
* 6 x status LED (USB STLinkV2, STlinkV2 green, power, USB power, USB OTG green, USB OTG red)
* L3GD20 MEMS 3 axis accelerometer on SPI5 (currently not supported)
* 2.4" QVGA TFT LCD with
==Pinout==
The Discovery has a male 128 pin (2x32pin on both sides) pinout. 
===LED===
===UART===
===SPI===
===I2C===
===ADC===
===PWM===
===PPM Input===
===Spektrum===
===Jumper===
====pin jumper====
* JP1 current consumption of the MCU can be measured here
* CN3 set: STLinkV2 is connected to onboard MCU, unset: STLinkV2 is connected to SWD header to program external MCU
====solder jumper====
==Firmware Flashing==
FLASH_MODE=DFU is set as default
STM32F429I Discovery can mainly be programmed in two different ways:
===DFU===
* with the MCU native (embedded in rom) DFU USB bootloader over the micro USB AB connector
* required hardware: USB to micro and USB to mini usb cable 
* required software: dfu-util 
* push MCU in DFU mode: connect mini and micro USB to PC, connect pin BOOT0 with 3V, press reset button(LED LD7 should light up now), disconnect BOOT0 to 3V (if this does not work, also connect BOOT1 (PB2) with GND)
* more information: DFU page
===SWD===
* with onboard STLinkV2 over SWD
*required hardware: usb to mini USB cable
* required software: st_flash and st_util from Texane
* more information: STLink page
Category:Autopilots
Category:DeleteMe
SUMO/Ground modem

__NOTOC__
== What you need ==
Qty 	Manufacturerpart number	Description 	Manufacturer 	Digikeypart number 	Other distributor
Ground station modem	Ground station modem 	Ground station modem 	Ground station modem	Ground station modem	Ground station modem
1 	XBP24-PKC-001-UA 	Zigbee / 802.15.4 Module 2.4Ghz Xbee 256000 BAUD USB	Digi 	XBP24-PKC-001-UA-ND 	Mouser 888-XBP24-PKC-001-UA
Shopping list
== Modem setup ==
Set the ground modem baud rate to 57600 baud with X-CTU available from Digi as this is the preset for XBee API mode, see XBee configuration
Make sure that the modem can be legally used in the country you wish to operate. In most countries it is not allowed to use another antenna than the provided 3dB whip antenna. In some countries (e.g. within the European Union) it is required to reduce the RF output power level of the original devices.
SUMO/Misc Airframe Notes

= Misc Airframe Notes =
MotoCalc is an Electric Flight Performance Prediction program for Windows and is available for a 30 day free trial. MotoCalc has an internal database of thousands of motors/props/etc. and can make power/flight predictions based on data input.
Electric Motor Calculator by Diversity Model Aircraft is a free online tool for matching props to motors to batteries.
Propeller Thrust Calculator is a free online calculator to give thrust from given propeller and RPM or vice versa.
MultiSurface Aerodynamics is an airfoil and wing analysis software package. The software predicts lift and drag for multiple interacting wings.
== Battery Specs ==
Nickel Cadmium (NiCd)
* Energy/Weight: 40-60 Wh/kg
* Nominal Cell Voltage: 1.2V
* Fully Charged Cell Voltage: 1.2V
* Depleted Cell Voltage: 0.8-1.0V
Nickel Metal Hydride (NiMh)
* Energy/Weight: 30-80 Wh/kg
* Nominal Cell Voltage: 1.2V
* Fully Charged Cell Voltage: 1.35-1.4 V (unloaded)
* Depleted Cell Voltage: 1.0V
Lithium-Ion
* Energy/weight: 160 Wh/kg
* Nominal Cell Voltage: 3.6 / 3.7 V
* Fully Charged Cell Voltage: 4.2V
* Lowest Cell Discharge Voltage Before Damage: 2.4v to 3.0v
Lithium-Ion Polymer (LiPo)
* Energy/weight: 130-200 Wh/kg
* Nominal Cell Voltage: 3.7V
* Fully Charged Cell Voltage: 4.23V
* Lowest Cell Discharge Voltage Before Damage: 3.0V
Typical Power Requirements
* 70W/kg (35W/lb) for sedate flying from hand launch
* 100W/kg (50W/lb) for ground take off
* 150W/kg (75W/lb) for performance / aerobatics
= Mass Figures =
Provided below are some weights to aid in estimating an all up weight for your uav
* Tiny13 1.1 Weight: 25g (0.88oz)
* IR Sensor Head: 5g (0.18oz)
* XBee Pro: 4g (0.14oz)
* Hitec HS-55 Servo: 8g (0.28)
* Brushless Outrunner 250W: ~90g (~3oz)
* FunJet assembled, no hardware: 165g (5.82oz)
* FMA Encore 5ch Receiver: 11g (0.40oz)
* Castle Creations Phoenix 35: 24.5g (0.9oz)
SUMO/install electronics

See Prepare Paparazzi electronics for a detailed description of where exactly the connectors/plugs go to.
Glue the USB Mini-B board for the Umarim lite to the right side of the end of the battery compartment.
Install two 3mm plywood boards 41mm by 10mm centered behind the fiber rod and aligned to the distance of the Umarim lite drill holes with CA. Fix the XBee pro with the Sparkfun board below the boards with Velcro.
Add a 3mm plywood board 41mm by 26mm one centimeter above the base of the fuselage. Drill holes to hold the Multi board before mounting. Install the Umarim lite with 1.6mm screws and servo rubbers in between.
Fix the Multi board with four screws and and servo rubbers.
The logger holding 3mm plywood board is 41mm by 30mm and installed 5mm behind the Umarim lite at the same level.
Add a 10mm EPP separator between the autopilot and the motor compartment. Connect the logger to the Umarim, add the micro SD card holder and the USB Mini-B behind the separator. Fix the logger on the board with Velcro.
Put the GPS receiver with the ceramic antenna upwards into the pocket under the front turtle deck (picture shows not-yet attached deck).
Glue the MLX90614 infrared thermometer into the 25mm x 20mm pocket. Seal the metal sensor with the EPP to make it watertight. Bring the connecting cable to the fuselage. Close the pocket with the original (colored) EPP.
Insert the PT1000 temperature sensor into the ABS holder and fix it to the right wing.
The same applies to the SHT75 humidity sensor on the left wing.
Overview.
SUMO/install rc

__NOTOC__
== What you need ==
Qty 	Manufacturerpart number 	Description 	Manufacturer 	Digikeypart number	Other distributor
RC electronics	RC electronics 	RC electronics 	RC electronics	RC electronics 	RC electronics
2 	Graupner DES-476 BB 	Digital servos 11.5mm 	Graupner 	 	Graupner #7915
2 	Servo cable with plug 30cm	to enhance servo 	Hobby shop 	 	
1 	Axi 2212/26 Gold Line 	Brushless motor 920 RMP/V	Axi 	 	Axi #221226
1 	APC Slo-Flyer 9x6" 	 	 	 	
1 	Prop saver 3.17mm 	 	 	 	
Shopping list
== Assembly ==
Again you follow the original instructions of the Multiplex Funjet. This mentions only the differences.
Enhance the servo cable by adding extra cable to have 28cm in total, secure the cable with heat shrink tube if you solder. Remove the black plastic case of the plug and thread the three golden plugs from the outside through the 5mm servo channels to the fuselage. Re-attach the black plug in the fuselage in the correct order. Install the servo and mechanics as described in the manual.
Add a male BEC cable for the Umarim power supply to the speed controller battery input connector and extend the total length to 42cm. Attach the motor to the speed controller. Mount the speed controller at the back of the fuselage.
Mount the motor in the back of the aircraft. The downthrust should be around 1°, see manual.
Install the propeller on the prop saver. Make sure you keep the rubber in a good condition. Replace them early.
Put black duct tape over the edge of the glass so that the glass fibres can not hurt. Add the same tape over the leading edge of the wing.
SUMO/logger

==Setup==
The logger contains its own processor and USB connector but only needs to be flashed once. It is flashed just like an airframe: clean, build, plug USB to the rear connection, power up and click upload. The configuration can be found as LOGGER in the example file conf/conf.xml.sumo
You might need to reflash the logger in case you accidently overwrite it with an airframe configuration. That should not happen again as the USB connectors are clearly separated and not next to each other as they used to be.
==Start/Stop==
The logger will automatically start writing the autopilots (and Aeroprobe) data to the SD card. To stop the logging there is no longer a mechanical button. It will be stopped through the gcs. Go to the gcs middle panel -> Settings -> Modules. There is an entry "log_sd_spi". The number next to it shows if the logger is running or not, click on the number to update or if there is N/A. It will be "1"/"START" if the logger runs or "0"/"STOP" if stopped. Check the "STOP" radio button and press the green commit button to stop the logger, see attached picture. Once the logger is stopped it can for now not be restarted through the gcs. The aircraft has to be power-cycled.
==Decoding==
To download and convert the data you need to stop the logger (now through the gcs), connect the logger USB connector to the laptop while aircraft power is still on and wait for the mass storage device to appear. 
The telemetry is written in the Paparazzi .tlm format that adds a timestamp to each message. The local laptop decoding-time is used if no GPS signal was received during the flight (e.g. when testing indoors). The logger starts with 00000000.TLM in the main folder of the SD and increases the number with each log session. Already used numbers will not be overwritten. 
Make sure environment variables are set before running pprz programs from the commandline
 me@home:~$ export PAPARAZZI_HOME=~/paparazzi
 me@home:~$ export PAPARAZZI_SRC=~/paparazzi
The data is converted back to the Paparazzi .log and .data format using sd2log
 me@home:~/media/usbstick$ ~/paparazzi/sw/logalizer/sd2log 00000002.TLM
 Renaming produced file ...
 09_08_13__20_55_03_SD.data file produced
 09_08_13__20_55_03_SD.log file produced
 09_08_13__20_55_03_SD.tlm file saved
It creates timestamps from the .tlm and changes the filename to the take-off time if a GPS message with correct time was available in the file or the current local PC time if no GPS was available. The .log file will be re-created either from the current configuration (if still in existence) or the MD5-labeled files that are stored in var/conf each time you build an aircraft. All resulting files are stored in var/logs with an _SD extension.
See data logger for more details.
SUMO/mechanical assembly

Basically you follow the original instructions of the Multiplex Funjet. We will only mention differences. Read through the original instructions and make sure you understand them before you start. Do not use hot glue.
Cut a hole through the front part of the fuselage depending on the size of the receiver. For the robbe R6107SP from Mikrokopter that is 26mm x 56mm.
Cut off the lower 4mm of the block you just pulled out and glue it to the bottom of the hole. 
Cut as much from the top of the block so that the receiver fits into the box. This part will be glued in when everything is done. Leave a hole for the binding button. Create cable channels for the RC receiver, antenna and optional LEDs from front to back by cutting a few mm into the foam.
Cut a 25mm x 20mm hole for the Melexis MLX90614 infrared thermometer into the right wing. It works the same way as the receiver block: leave some foam at top and bottom.
Drill a 8mm hole for the cable from the outside of the wing into the fuselage, starting with small drills and getting bigger.
Bottom view of the MLX90614 hole.
Use the same principle to create the Hygrosens TEMOD-I2C-R1 high speed temperature (right wing) and Sensirion SHT75 humidity/temperature (left wing) cable channels. First drill from the outside of the wing to the fuselage, then from top to the cable channel.
Cut the fuselage turtle deck (4) into three parts: 70mm front, middle, 50mm back. Cut them with a slight angle so that the middle part can be easily removed.
Add 5mm EPP foam parts to the front turtle deck so that your GPS receiver fits.
Glue the front and back turtle deck to the fuselage, add magnets for latching. Glue the motor mount in place.
Cut off and smoothen the wing tips (just as in Funjet Ultra).
Glue in the canopy lock just as in the instructions
All the holes and cut outs weaken the structure significantly. Add two layers of glass fiber (163g/m2, 80g/m2) to the bottom. The glass extends over the black plastic motor holder.
As the turtle deck can not take as much force add two layers over the back part and the motor holder (colored in light red)
Cut off the glass fiber edges. Be careful with the glass. Now that the glass is applied, enhance the original servo channels to 5mm with a drill or a hot piece of steel.
Glue the wings as described in the instructions.
Optionally use (strong) magnets to hold the fins for easier transport.
Add some colour.
The SHT75 humidity and PT1000 temperature sensor holder are made of white ABS parts. The tube is 12mm inner and 14mm outer diameter, the quadratic inner holder is 6mm/8mm and the outer is 8mm/10mm.
Cut the ABS parts as shown.
Glue inner holder and tube together, secure outer holder with screw.
Cut square 8mm holes on both sides of the wing, left for the SHT75 humidity sensor and right for the PT1000 temperature sensor. Glue the outer ABS holder with CA.
SUMO/rc transmitter

= Receiver =
We chose the Futaba 2.4GHz FASST system to control the SUMO. Any other system can be used as long as the RC receiver gives you the servo signals as a sum signal and this sum signal is turned off by the receiver if there is no radio transmission received (out of range, transmitter off). By turning off the sum signal the Paparazzi system can detect a RC link loss and switch to emergency modes.
=== R6107SP (special Mikrokopter) ===
Until recently we used a special Mikrokopter version of the R6107SP. It will output a 7-channel sum signal that is turned off in case the receiver can not detect a radio transmission. Unfortunately the R6107SP is no longer made by robbe/Futaba.
=== R6008SP ===
The R6008SP outputs a sum signal. It needs a 8-channel RC transmitter, the 7-channel transmitters T6EX or T7C below do not work!
By default the sum signal is not turned off if no radio transmission is received (robbe calls that "HIGH LEVEL" mode). The receiver can be set to turn off the sum signal if no radio transmission is received (called "LOW LEVEL").
To switch between HIGH LEVEL (sum signal always on) and LOW LEVEL (sum signal off if no radio transmission received):
* bind the receiver to the transmitter
* turn off receiver
* press the bind button and keep it pressed while turning receiver on
* red LED should blink (= HIGH LEVEL)
* keep pressed for another 2-3 seconds, release
* red/green LED should blink (=LOW LEVEL)
* turn receiver off
Check that the sum signal is actually off by looking at the radio status in the Paparazzi gcs and turning the transmitter off. The mode can be switched back the same way.
= Transmitter =
We have used classic Graupner/JR transmitters together with Futaba HFM12-x transmitter modules and the Futaba T6EX, T7C and T8FG transmitters. The T6EX is not really recommended as you might need to modify it to have a 3 position switch. With the T6EX we also had seen issues because of reduced transmission power at low temperatures (-28°C).
T7C
T8FG
Choose your personal stick mode for the Futaba T7C or T8FG and do not reverse channels. Program the transmitter to have a 3-position switch (for manual/auto1/auto2) to appear on channel 5.
The channels at a Futaba R6107SP should then be 
 1 Roll
 2 Pitch
 3 Throttle
 4 Yaw
 5 Autopilot Mode (M/A1/A2)
Use the radio/t7c.xml radio file for configuration (for a Futaba R6107SP receiver).
=== Programming the 5th channel of the T7C for Paparazzi mode ===
turn on transmitter
long press Mode/Page button
press Cursor/Down 2x to get to PARAMETR
press big round Multi/Rotation button
press Cursor/Down 2x to SCH-K5 (channel 5)
turn big round Multi/Rotation button until E (3-way switch) appears
press End 2x to leave
SUMO/sw configuration

The configuration setup is done through the conf/conf.xml file. It describes the sub-configuration files that are responsible for the airframe, the RC transmitter (radio), the telemetry messages/rate, the settings possible in-flight and the flight plan.
There is an example configuration file conf/conf.xml.sumo that you can rename to conf/conf.xml and start with. It contains the configuration for the logger and one SUMO aircraft.
 <aircraft
 name="LOGGER"
 ac_id="232"
 airframe="airframes/logger_sd.xml"
 radio="radios/mc24r.xml"
 telemetry="telemetry/default_fixedwing_imu.xml"
 flight_plan="flight_plans/dummy.xml"
 settings=" settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/infrared.xml"
 gui_color="yellow"
 />
 <aircraft
 name="SUMO_0"
 ac_id="21"
 airframe="airframes/campaign/sumo_0000.xml"
 radio="radios/t7c.xml"
 telemetry="telemetry/default_fixedwing_imu.xml"
 flight_plan="flight_plans/dummy.xml"
 settings=" settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml"
 gui_color="yellow"
 />
See conf.xml for more details.