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Lia

Lia is a lower cost version of Lisa/M first developed for inclusion with the Quadshot Mocha.
== Differences from Lisa/M ==
* 0.1" pitch through-holes instead of molex picoblade
* No CAN transceiver (footprint still present just not populated) on Transition Roboticsserial numbers LI1-001 through LI1-200 (populated on serial numbers ≥LI1-201)
* No I2C2 level shifter (footprint still present just not populated)
* No 5V voltage regulator (footprint still present just not populated)
* No JTAG connector (footprint still present just not populated)
* Added servo power inline resistors (by default 0 ohm but can be changed to higher value for balancing the linear voltage regulators of the motor controllers)
== Pictures ==
Image:Lia_1.1_top.jpg|Lia V1.1 top side
Image:Lia_1.1_bottom.jpg|Lia V1.1 bottom side
Image:Lia_1.1_aspirin_bottom.jpg|Lia V1.1 bottom side with Aspirin 2.1 nomag nobaro placed.
== Jumper Configuration ==
There are a number of jumpers on Lia used to configure voltage levels and power input. Their locations and functions are identical to those on the Lisa/M v2.0.
See the Jumper Configuration section on the Lisa/M v2.0 page.
Note that the default states of JP8 and JP9 are reversed with respect to the defaults of Lisa/M v2.0; that is:
Lia UART1 and UART5 VCC Configuration
Jumper	Bus Connection 	Default	Description
JP8 	UART1&5_VCC to V_IN	CLOSED 	Connects UART1 and UART5 connector VCC to autopilot input voltage V_IN rail
JP9 	UART1&5_VCC to +3V3	OPEN 	Connects UART1 and UART5 connector VCC to autopilot +3V3 rail
WARNING: DO NOT CLOSE BOTH JP8 AND JP9 SIMULTANEOUSLY!!!
Category:Lisa
Links

== Paparazzi Blog ==
There is a blog about Paparazzi and related things at blog.paparazziuav.org.
== Paparazzi Youtube and Other Video Site Links ==
http://www.youtube.com/user/USUOSAM
http://www.youtube.com/user/aerovistapunktch
http://www.youtube.com/user/PPZUAV
== Paparazzi teams/users/contributors ==
http://www.caughey.com/uavblog/news.php?id=1
http://www.miraterre.com/index.html
http://mecano.gme.usherb.ca/~vamudes/
http://pfump.org
http://www.akaflieg.hs-bremen.de/
http://www.engr.usu.edu/wiki/index.php/OSAM
http://www.techhopups.com/
http://pixhawk.ethz.ch
http://www.rcgroups.com/forums/showthread.php?t=851820
http://www.rcgroups.com/forums/showthread.php?t=1000937
http://www.mannberg.co.uk/paparazzi/
http://www.rcgroups.com/forums/showthread.php?t=1183008
http://www.ppz-uav.com
http://www.openuas.org/
http://vrhome.net/vassilis/category/paparazzi/
http://y-uav.com
http://www.umars.ch
== WikiNode ==
Related wiki are, as always, listed on the WikiNode.
Category:User_Documentation
Lisa/MXS v1.0

Lisa/MX-Small is a smaller version of Lisa/MX but still equipped with the same STM32F4 processor with a weight of only 1.45 gram. Take a look on the Lisa/MX page for more in depth information. Go to Github Paparazzi - Hardware Lisa MXS for schematics.
In the default mode, only 4 UART, 1 SPI, 1 I2C, 3 ADC and 6 servos are available. But since the F4 has massive alternate functions, more options are possible.
 - if you need 8 PWM outputs, then I2C1 can become output for servo 7 and 8
 - if you need 5 UART's, servo 1 and 2 can become UART6 TX/RX
 - if you need more ADC's then servo 5 and 6 can become ADC's
 - if you need to use a tiny RC receiver with PPM output, then servo 6 can become the PPM input
 - if you need hardware flow control, UART2 RTS and CTS are on servo 5 and 6
 - if you need more than 8 servos, then nearly every UART and SPI can become extra PWM (except SPI-SS)
Lisa/S

__TOC__
== Lisa/S ==
Lisa/S is a very small general purpose autopilot. The main goal of creating an autopilot of minimal size and weight, while providing enough functionality to enable fully autonomous operation.
=== Mechanical Dimensions ===
* Size: 20mm x 20mm x 5mm (0.787" x 0.787" x 0.197")
* Weight: 2.8g (0.1oz)
=== Features ===
* 72MHz 32bit ARM Cortex M3 MCU with 16KB RAM and 512KB Flash
* Combined 3 Axis Gyroscope and 3 Axis Accelerometer
* 3 Axis Magnetometer
* Barometer (Altimeter)
* Onboard U-Blox GPS
* Pads to simply connect a Superbit CYRF RC and telemetry module
* Switching buck/boost converter allowing wide range of power input making it perfect and stable for operation from a 1S LiPO cell.
* 2 MOSFET switches connected to PWM output channels
* 6 PWM (servo) outputs
* 1 UART port
* 1 CAN interface
* 1 Bind/Boot tact switch
* SWD programming/debugging interface
* Size: 20mm x 20mm x 5mm (0.787" x 0.787" x 0.197")
* Weight: 2.8g (0.1oz)
=== Pictures ===
So if you are ready to make your tiny plane fly autonomously,you can already order one here
== Where to Purchase ==
 The Lisa/S Autopilot is available for purchase from 1 BIT SQUARED.
== Pinout ==
For a good example with which pins to connect where go to Lisa/S/Tutorial/Nano_Quadcopter. For more pinout info the site of manufacturer 
== Servo connections ==
 MOT1 (DC) = SERVO3 (PWM) = nb 0 (airframe)
 MOT2 (DC) = SERVO4 (PWM) = nb 1 (airframe)
 MOT3 (DC) = SERVO5 (PWM) = nb 2 (airframe)
 MOT4 (DC) = SERVO6 (PWM) = nb 3 (airframe)
 SERVO1 (PWM) = nb 4 (airframe, not compatible with I2C1)
 SERVO2 (PWM) = nb 5 (airframe, not compatible with I2C1)
== Barometer ==
In order to use the barometer, you just need to add one line to your firmware block (in your airframe file) :
Once that line is added to the airframe file, you should be able to get the values of the barometer and paparazzi is going to take them into account when doing it's calculations.
Warning : the barometer doesn't seams to be working at a higher frequency than 120Hz in a fixed wing airframe. Than mean that in a fixed wing airframe the PERIODIC_FREQUENCY must be equal or lower than 120. In rotorcraft the barometer works fine.
== Schematics ==
== Pre-Release v0.1 ==
One of the earliest versions of the board which is still used in the MAVlab of the TU-Delft is the Lisa/S V0.1R2. If you are not working there, this info is of no importance to you...Else as a reminder to all: This version is slightly different from newer versions:
* The SWIO and GND pin from the Serial Wire Debug (SWD) headers are flipped, such that the order becomes TRACE-SWCLK-SWDIO-GND.
* There is no capacitor to enable a warm start for the GPS.
* Instead of four, only two brushed motors can be connected.
=Lisa/S Nano Quadcopter Kit Assembly Tutorial=
1. Go the the Lisa/S Nano Quadcopter Kit Assembly Tutorial Page to get a good explanation for how to connect your board to a Nano Quadcopter.
Category:Lisa Category:User_Documentation Category:Autopilots
LisaL Gallery

Here you can see the different uses of the lisa hardware and related pictures.
Image:lisa_bd.png|Block Diagram
Image:lisa_l_cad.jpg|CAD view of the beast
Image:lisa_l_pcb.jpg|First batch of proto PCBs
Image:lisa_l_stencil.jpg| A stencil to help assembly
Image:lisa_l_proto1.jpg|On the scale
Image:lisa_l_proto2.jpg|On the touchpad
Image:lisa_l_proto3.jpg| Upside down
Image:lisa_l_proto4.jpg| Power consumption
Image:lisa_l_hex_1.jpg| You're gonna fly the Hex
Image:lisa_l_hex_2.jpg| Isn't it cute
Image:lisa_l_hex_3.jpg| From the other side
Image:lisa_l_hex_4.jpg| Same vehicle
Image:lisa_turntable.jpg| Calibration
Image:lisa_l_hex_5.jpg| Lisa/L on the hex Download the video
Image:lisa_asctec.jpg| Big Lisa in small Asctec
Image:getting_closer.jpg| Almost there
Category:Hardware
LisaOveroImage

==Building an Overo image for Lisa with Open Embedded==
The goal is to use openmbedded to build an image for the overo with the bits needed for Lisa. Currently this includes
# libevent
# linux kernel 2.6.33.5-rt23 (maintained at git://gitorious.org/linux-omap3/linux-omap3.git)
## based on gumstix-oe from (git://www.sakoman.com/git/linux-omap-2.6.git)
## antoine's patch for spi device node on overo
## 2.6.33.5-rt23 preempt-rt patch
* Make sure you have bitbake and build-essential installed:
 apt-get install bitbake build-essential
* Ubuntu 10 will also get errors during bitbake unless the following is installed
 sudo apt-get install git-core help2man diffstat texi2html texinfo chrpath sgmlspl
* And don't forget to install glib
 sudo apt-get install libglib2.0-dev
* Ubuntu 10 will also need to remove the link for /bin/sh that points to dash and instead point it to bash
Run 
 sudo dpkg-reconfigure dash
and answer no when asked whether you want to install dash as /bin/sh.
or alternative:
 sudo su -
 cd /bin && rm -f sh && ln -s bash sh
* Make an overo-oe directory in your home directory!!!!!, cd into it!!:
 mkdir ~/overo-oe
 cd ~/overo-oe
* Clone Allen's openmebedded tree:
 git clone git://gitorious.org/linux-omap3/openembedded.git org.openembedded.dev
(If you want to take a look at the repository beforehand you can find it Here)
* Copy build profile into ~/overo-oe, source it:
 cp -r org.openembedded.dev/contrib/jei/build .
 source ~/overo-oe/build/profile
* Use bitbake to build the image:
 bitbake omap3-lisa-image
On July 9 2010, on an up to date lucid lynx, the build is broken due to a bug in bug in gzip ( yeah.. they still have that... )
ERROR:
....expat_2.0.1.bb do_unpack failed 
solution to this error:
http://www.facebook.com/note.php?note_id=398968379361
follow instructions of ERROR#1
In short:
 cd~/
 sudo apt-get install gzrt
 cd ~/overo-oe/sources/
 gzrecover expat-2.0.1.tar.gz;mv expat-2.0.1.tar.recovered expat-2.0.1.tar;gzip expat-2.0.1.tar
say yes to the overwrite
 md5sum expat-2.0.1.tar.gz; sha256sum expat-2.0.1.tar.gz
note them somewhere
 gedit expat-2.0.1.tar.gz.md5
replace with the new MD5 checksum and save
 cd ~/overo-oe/org.openembedded.dev/recipes/expat
 gedit expat_2.0.1.bb 
change the MD5 and SHA256 checksums there to reflect the new ones, and save
 cd ~/overo-oe/
 bitbake omap3-lisa-image
ERROR:
'.../overo-oe/org.openembedded.dev/recipes/libsamplerate/libsamplerate0_0.1.7.bb' failed
solution:
http://old.nabble.com/Building-omap3-desktop-image-td30020826.html
In short:
Delete the '.../overo-oe/sources/libsamplerate-0.1.7.tar.gz' file
bitbake omap3-lisa-image
You need to modify the checksums in the recipe
.../overo-oe/org.openembedded.dev/recipes/libsamplerate/libsamplerate0_0.1.7.bb
to
SRC_URI[md5sum] = "6731a81cb0c622c483b28c0d7f90867d"
SRC_URI[sha256sum] = "78ed5d9ff1bf162c4a078f6a3e7432a537dd2f22dc58872b081fb01156027fcc"
from
'#SRC_URI[md5sum] = "ad093e60ec44f0a60de8e29983ddbc0f"
'#SRC_URI[sha256sum] = "e0a646224a0323ac63f56ef009b2d7fee11452a7b8af139b19ae71d2890dbc9c"
 
Then run
bitbake -c clean libsamplerate0;bitbake libsamplerate0
Category:Software Category:Developer_Documentation
Lisa Gumstix Breakout

This page is currently dedicated to a proposal of a Lisa/M to Overo Gumstix breakout board.
== System Design ==
== Wishlist ==
* 10/100 Base-T ethernet phy (at least one if not two)
* USB Host
* USB OTG
* FTDI based USB to serial converter connected to the Overo serial console
* Isolated LVDS SPI and McBSP for connectivity to Lisa/M or other systems (10MBit rate desirable)
* Isolated USART for connectivity to Lisa/M or other systems
* Levelshifted I2C to 5V/3.3V
* Levelshifted Gumstix GPIO to 5V/3.3V
* Break out and level-shift GPIO 48,49,50,51. Those pins are the hardware UART TX, RX, CTS, RTS pins. It is very useful to have the CTS and RTS pins broken out, in case someone would want to set up an PPP network link using two Digi XTends. It is not possible to use software flow control in this case, as the binary data stream might contain bytes that equal ctrl+s or ctrl+q.
* Break out PWM GPIO pins, e.g. to be able to control servo's. (level-shift to 5V) Oh... those can be used as timer inputs too of course.... take this into account when level-shifting (maybe add padds for the level-shifted output, and for the un-level-shifted input, for high frequency signal capture)
* Stackable for multiprocessing
LiveCD

thumb|320px|LightScribe CD Cover 
Please note: the Live CD is from 2008. Everything should still work, but a lot of development has happened ever since. It can be still useful to get a first glimpse on Paparazzi.
The LiveCD is an easy way to test Paparazzi: no installation is required and no changes are made to your computer. Simply burn the image as a boot CD and reboot! The LiveCD includes Linux and the complete paparazzi binary package (code source, tools and cross compilers). It is intended for demonstration only and not frequently updated but it contains the complete system and can store changed files on a pen drive or compressed file on your hard drive so that it can compile, flash, and operate any aircraft, albeit slowly. 
 
The CD image and a howto on Using the Boot CD is available from the Downloads page.
The Paparazzi demo is launchable on the Live CD from the Paparazzi icon.
Knoppix allows for all the user data to be saved on a hard disk partition (most file systems are supported) or on a removable device (typically a USB pendrive). Note that this action is not destructive: the user data tree is compressed and stored on your file system as a single file (knoppix.img).
* From the Knoppix menu (second from bottom left), choose Configure, Create a persistent KNOPPIX disk image
* Choose your media (be sure to connect your USB pendrive before booting!)
* Choose if you want an encrypted filesystem (to protect your flight plan designed for the next MAV competition :-) )
* Choose the size of your home directory (100Mb is recommended)
On the next reboot, this saved state will be automatically located and loaded.
Using this persistent feature, the Paparazzix Live CD can really be used to configure, simulate and fly an aircraft with the Paparazzi system.
The Live CD can also be used to install a Debian system on the hard disk, using the knoppix-installer command. Be sure to backup the hard disk before trying ...
A LiveCD needs some looks... In color or in LightScribe format, your CD will always look cool. 
* Get the PDF version for download here LightScribe CD Cover 1.
* The LightScribe version is in Nero Cover Design format (.ncd) and it's here for download LightScribe CD Cover 1
* Better is of course to use it on an OpenSource OS, some Linux software to be found here: Lightscribe for Linux
Category:Software Category:User_Documentation
Logo

This page is dedicated to Paparazzi "promotion". As soon as this project is marvelous in technical and social way, it seems logical to make it look shining. Not all of us can do electronics, or solder chips to help this project directly, but we all want/like/love to fly and every member of a project is a value.
If there is a way you can help and want to, then do it and everybody will benefit.
== New Logo Guidelines ==
* Do not include the Linux Penguin in the logo (wrong message)
** The penguin is a mascot of the Linux Kernel project.
** It has nothing to do with Paparazzi besides the fact that it was part of the logo since the very beginning.
** It gives the impression that Paparazzi (autopilot as well as ground software) only run on Linux.
* A black and white version of the logo must be easy to make (we can have a color version for web)
** We want to be able to easily put the logo on PCB silkscreens / small PCBs
** We want to be able to easily print T-Shirts
* A tiny version of the logo has to be recognizable
** We want to be able to put the logo on small PCBs
* Preferably use only straight and circular lines, to make PCB logo creation easy
* We need a serious logo representing
** Flight
** Stability
** Versatility / Flexibility
** Show it is applicable to many types of aircraft (Airplane, Rotorcraft, Helicopter, Ornithopter)
** Portability
== Logo Proposals ==
Here is a small collection of logos that people submitted as possible new logo candidates.
=== Porco Rosso (WingPenguin) ===
I wanted to propose new logo. I like the old one, but maybe this will do too, I'm no artist so it's just a sketch.
I think this logo is disqualified as it uses the Tux in it. See the requirement list above. Esden (talk)
=== Philipan (Aviator Tux) ===
This logo was proposed by philipan on gitter. Included here for reference.
I think this logo is disqualified as it uses the Tux. See the requirement list above. Esden (talk)
It would be hard to make a good looking black and white version for PCB use. Esden (talk)
=== Gautier (Circle Square) ===
A concept of very simple logo, a circle with a square in the middle. Some explanations:
* this is inspired by antic Chinese coins
* it is used as lucky charms
* it represents the sky (round part) and the earth (square part) in Zen philosophy
* it can be seen as a propeller disk and an electronic board in the middle
* the ratio I used for the two sizes are (close to) the gold number
=== HooperFly (Papillon) ===
Another idea for logo directions.
* Papillon (french for butterfly) --> relates to the origin of Paparazzi at ENAC
* Autonomous (butterfly is autonomous)
* Antenna (could be stylized to radiate radio waves)
* Simple design
* Clear branding
* Butterflies relate to Multi-MAV in their group behaviors
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MAVion

MAVion is developed at the SUPAERO micro UAV club.
== Specifications ==
*Span: 30 cm
*Weight: 255 g
*Cruise speed: 15 m/s = 54km/h
*Batteries: 3 lipo-cells, 910 mAh
*Endurance: 15min
On board camera
== Performances ==
The MAVion has won the IMAV09 outdoor competition in Pensacola, Florida and got the third place at EMAV09 in Delft, Netherlands
Category:Airframes