nyuuzyou/wikis huggingface dataset:
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Previous Autopilots

Autopilots
__TOC__
== AVR Lite & 1.2.1 Control Board ==
These boards were used in the original development of the paparazzi project and were made obsolete in 2006 with the release of the ARM7-based Tiny and Classix
=== Features ===
* 1 Atmel MEGA8 (fly by wire operations)
* 1 Atmel MEGA128 (autonomous operations)
* hardware segregation of critical operations (r/c, servos) for safety
* 5V/2A switching power supply
* Built-in 4800 baud modem for telemetry downlink thru the audio channel of a video TX
Atmel AVR microcontrollers are low power 8 bit microcontrollers that were well equipped for handling early development code but as navigation and stability algorithyms became more advanced in 2006 the change was made to Phillips ARM7 processors for their superior processing power and I/O features.
Plans and BOM lists are still available on the CVS. 
As of December 2006, all current autopilot code is still backward compatible but some advanced functions such as real-time wind-corrected payload deployment calculations may overload the processor.
=== Architecture ===
== Robostix ==
The Robostix is an expansion board from Gumstix. This board provides a cheap solution for those looking to get a plane in the air. Similar in design to the Paparazzi Lite, modifications were made to the airborne software in 2005 to support this board but airborne testing was never performed as the focus shifted to the new ARM7 hardware.
===Features===
* 1 Atmel MEGA128 MCU
* 6 ADC channels
* 6 PWM outputs
* 1 SPI
* 1 I^2^C
* 2 UARTs
* Connector to dock with a Gumstix board
* 15 grams
* 80 x 36mm
This board provides a very inexpensive (~$40 USD) solution. While slow compared to the newer ARM7, it is fully capable of handling the paparazzi code using IR sensors.
Category:Autopilots
Previous Infrared Sensors

Sensors/IR
== Dual Axis Board ==
=== Pinout ===
Pin #	Name	Notes 	Suggested Color
1 	IR2 	IR Signal Output Axis 2	Grey
2 	GND 	Ground 	Black
3 	VCC 	+3.3v Power Supply 	Red
4 	IR1 	IR Signal Output Axis 1	Braun
=== Sensor Orientation ===
Align arrows FWD and AFT on fuselage, SM components up, Connector down.
Either arrow can be forward. Follow Wiki airframe configuration file 
instructions.
----
== Single Axis Board ==
=== Pinout ===
Pin #	Name	Notes 	Suggested Color
1 	IR 	IR Signal Output 	Purple
2 	VCC 	+3.3v Power Supply	Red
3 	GND 	Ground 	Black
=== Sensor Orientation ===
The sensor marked "TOP" goes up.
----
With the above "Sensor Orientation"s IR1_SIGN, IR2_SIGN, and TOP_SIGN values ended up "1" in the Airframe file. For more information look in ( ~/paparazzi3/sw/airborne/infrared.c ) file on your system.
Category:Hardware Category:Sensors/IR
Project add uavcan

__TOC__
==UAVCAN on Paparazzi==
==Outcome==
Be able to simply connect UAVCAN devices to Paparazzi suppoted Autopilot board which have a CAN connector
==Why==
To have the benefits of CAN by using 3rd party UAVCAN sensors in Paparazzi enabled autopilots
==Into==
==RFC==
Yes, this is a living document so RFC, ideas and whatever helps to move forward very welcome.
==Version==
UAVCAN specification exist in various version For now the solution is for UAVCAN specs Beta V1 only since V0 support is diminishing fast
==Path==
The step to take to get to a solution
===Research===
See what usable is already available
# libcanard
# PPRZ ABI messages
# Chibios CAN
# Baremetal can support
===Choices===
Lets start of by using libcanard and Chibios and later add baremetal. If done well this shoul be possible 
==ABI==
a UAVCAN abi.xml bridge
==DSDL==
As an example on could take Hereflow and implement a driver for it
===Generate code from DSDL====
There are already tools even online https://nunaweb.uavcan.org/
and for the other part someting like https://forum.uavcan.org/t/introducing-ap-periph-easy-uavcan-firmware-creation/678
==Timestamps==
Relevant https://forum.uavcan.org/t/rtos-can-api-requirements/706
=Tools=
==A Pixhawk as CANDEbugger==
==CANAble==
An opensource CAN to PC adapter usable for debuggin purposes https://canable.io/
==Wireshark==
Using wireshark as UAVCAN packet sniffer
=Other CAN on same bus==
If there are no collision one should be able to use CAN with other protocolstack as well (OpenCAN, CANAerospace etc.)
=C99=
=MISRA=
=Links=
Links relevant to get UAVCAN into PPRZ
# https://github.com/olliw42/uavcan4hobbyists
# https://uavcan.org/
# https://forum.uavcan.org/t/uavcan-v1-0-and-ardupilot/671
Pyrenees Crossing

Realized on August 6, 2009, the flight path and some points of interest appears here (screenshot, it does not seem to be possible to include the Google Maps widget in this wiki):
The .log and .data.bz2 files can be used to replay the flight in the Paparazzi GCS. They have been extracted (using the sw/logalizer/sd2log script) from a binary log stored on board, on a SD card. The telemetry was lost for few minutes, mainly because the aircraft was not in line of sight of the arrival GCS after the pass.
A 2.4Ghz XBee connected to the PA-13R antenna from wimo.com allowed us to follow the aircraft during the first 12km. We were on line of sight and even almost in "open" space since the aircraft was flying over a deep valley.
The take off took place on the "Plateau de Beille", 1800m:
 
The aircraft, a Multiplex Funjet, was equipped with a Pentax Optio S7 digital camera and it took (well, at least it was supposed to do it) one shot every 5 seconds. The front of the aircraft in on the left side of the pictures.
Two pictures above the Laparan lake dam (1540m, seen from 2100m), and above the Fontargente lake (2150m, seen from 2350m) just before the pass (2262m). A blue tent can be seen:
 
Just before the arrival, a guy on a path (1900m, seen from 2100m) and his shadow:
And the arrival ground station on a pretty and convenient support:
Wind was from the south, estimated at 2m/s during the first circles after take off while the airspeed was about 15m/s. An interesting pertubation occurred just before crossing the pass: at t=1045s, the aircraft climbed 50m higher than the setpoint (2350m); the throttle was then shut down (10%) and pitch was set down as well ... and the
ground speed increased from 13m/s to 17m/s. The following plots display the event
Category:User_Projects
R0

right|500px|R0 sub GHz radio modem V1.1
__TOC__
R0 is a low cost sub GHz telemetry radio modem, based on the very common HM-TRP module. It is available in 915MHz, 868Mhz and 433MHz bands.
R0 is based on the Si1000 chipset, and the SiK telemetry radio firmware. This makes it compatible to many other UAV telemetry radio modules like the RFD900 or the 3DR telemetry radio. The difference is that R0 is exposing a UF.l connector making it very slim and allowing installation inside tight spaces. Also the module provides the ubiquitous FTDI pin header and a Molex Picoblade null modem connector. R0 is compatible with the UU0 low cost USB to UART adapter dongle. 
= Features =
* UF.l minature antenna connector
* FTDI cable compatible 100mil pin-header
* Molex Picoblade null modem connector
* Small footprint: 16mm x 40mm
* M3 mounting hole
= Pinout =
= Schematic =
= Set up examples =
= Related Hardware =
* Overview: Elle
* Elle0 Autopilot: Elle0
* G0 GPS receiver: G0
* UU0 USB to UART adapter: UU0
= Where to Buy =
R0 Radio Kit is available for purchase in the 1BitSquared store.
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RepositoryStructure

Repository Structure Refers to the way Paparazzi is naming the Git branches and which one is the right one for you.
== Development branch (master) ==
https://travis-ci.org/paparazzi/paparazzi.png?branch=master,?.png
A permanent branch where current the development is based on. For users wanting to test the the bleeding edge, this is the one to use.
It should at least compile, but can have untested new features. New features are being injected into this one from the feature branches.
Needs bench testing and careful flight testing on your end.
== Stable branches ==
These are the branches that are considered stable and ok to be used by everyone.
Releases get even minor version numbers.
The only commits that go into those branches are only bugfixes. No new feature commits are being done directly to those.
May branch off from: release preparation branch
Branch naming convention: v<major>.<even_minor>, e.g. v4.0
== Feature branches ==
If a bigger new feature is being implemented and is meant for people to test the development branch is being copied into "feature_<description>" and after the implementation of the new feature is completed those branches get merged back into the development branch again.
May branch off from: master
Must merge back into: master
Branch naming convention: <feature_description>
== Release Preparation Branches ==
Release preparation is done in branches with odd version numbers. When it is ready the branch is renamed to the next even number.
So e.g. stabilization and testing is done in v4.1 and then renamed to v4.2 (and tagged) on release.
May branch off from: master
Must merge back into: master, next stable branch
Branch naming convention: v<major>.<odd_minor>, e.g. v3.9
== Hotfix branches ==
If there are bugfixes that need to be tested before they get applied/merged to a stable release they get their own (temporary) branch:
May branch off from: stable branch
Must merge back into: stable branch
Branch naming convention: <major>.<even_minor>_fix_<description>
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