nyuuzyou/wikis huggingface dataset:
Sensors/AMSYS

Sensors
This site will explain a way, how to use a Analog Microelectronics pressure sensor - AMS 5812 Series, distributed by Amsys.
==Addressing==
At first you have to be sure, you've programmed the right I2C address on the sensor chip. 
To do this, you can use a programmer device named “AMS 5812 starter kit“ which comes with all the software you need.
http://www.analogmicro.de/_pages/sens/ams5812/ams5812_usersguide_starterkit.pdf
===Paparazzi addresses===
I2C Addresses:
The default address of every AMS chip is F0 and it is always reachable, even if you've programmed a other one.
The default addresses defined in the paparazzi driver are:
*Baro: 0xE4
*Airspeed: 0xE8
You can change them and many othe sensor specific data in the files:
*/sw/airborne/modules/sensors/baro_amsys.c
*sw/airborne/modules/sensors/airspeed_amsys.c
===AMSYS addresses===
The „AMS 5812 starter kit“ software does not use the first bit of the address. 
If you want to know more see:
http://www.analogmicro.de/_pages/sens/ams5812/ams5812_data_sheet.pdf
Because of this you have to program the sensor chips with this addresses:
*Baro: 0x72
*Airspeed: 0x74
==Airframe==
This is an expample to define the module in the airframe.
<firmware name="fixedwing">
 ...
 <define name="USE_I2C0"/>
 <define name="USE_AIRSPEED"/>
 ...
</firmware>
<modules>
 <load name="airspeed_amsys.xml"> 
 <define name="AIRSPEED_SCALE" value="1."/> 
 <define name="AIRSPEED_FILTER" value="0.902000010014"/> 
 </load> 
 <load name="baro_amsys.xml">	
 <define name="BARO_FILTER" value="0."/>
 </load> 
</modules>
USE_AIRSPEED is only needed if you want to control your plane's speed by true airspeed. 
This is the calculation which should explain the usage of AIRSPEED_SCALE 
sqrtf(2*(pressure_amsys)*airspeed_scale/1.2041);
1.2041 is the value of the air density.
AIRSPEED_FILTER and BARO_FILTER are values of an TP1 filter:
airspeed_amsys = airspeed_filter * airspeed_old + (1 - airspeed_filter) * airspeed_tmp;
airspeed_old = airspeed_amsys;
The AMSYS Baro driver is only written to measure the height not to use it as an flight variable.
Category:Sensors Category:Modules
Sensors/Gyro

Sensors
__TOC__
Standalone gyroscopes are used in agile aircraft in combination with IR attitude sensing, to have improved dynamic response over the relatively slow time constant of the IR sensors.
== Paparazzi ADXR Gyro board ==
Eagle hardware files
== Sparkfun Breakout Board ==
Example Gyroscope for MicroJet: this is the 150 degrees per second sensor from sparkfun. The sensor is a 5 volt sensor and will work without modification if you have a Tiny2.11 and in assembly used a 1.8k resistor on R12 and/or R13 (see Tiny v2.11 page).
For Tiny1.3 or Classix Autopilots you will need to create a resistor bridge as their ADC is 3.3 volts. Using a resistor bridge of say 220k on 330k gives a nice 5 -> 3 volt conversion of the output. Ideally the gyro should be fed with very smooth stable 5V but as it will not be integrated but just used to help the slow thermopiles, the 5 Volts from the servos-receiver also work.
Note the cut tracks - the 2.5v and ST2 pins are re-purposed as the midpoint in the resistor bridges as they are not needed for tiny. These become our connections for Rate and Temp to the tiny.
 
cdewagter 12:59, 25 January 2008 (CET)
=== ADXRS613 with Twog v1 ===
An overview of how to use an ADXRS613 gyro for roll rates with a Twog v1 can be found at Gyroscopes/ADXRS613.
Category:Sensors
Sensors/IR Paparazzi

Sensors/IR
== Wide Horizontal IR Sensor board ==
"Arms" length can be reduced (copper marks each 2mm). Suitable for large fuselage integration.
=== Features ===
* "Arms" length can be reduced to fit in
* 0603 components
* fixation holes
* axis indications "1" & "2" (IR1 & IR2)
===Hardware support for this board===
== Thick Vertical IR single sensor board ==
"Arms" length can be reduced (copper marks each 2mm). Suitable for large fuselage integration.
=== Features ===
* "Arms" length can be reduced to fit in
* 0603 components
=== Hardware support for this board ===
== Slim Vertical IR single sensor board ==
Suitable for wing integration.
=== Features ===
* slim as possible to fit in wings
* 0603 components
=== Hardware support for this board ===
== Small Horizontal IR Sensor board ==
Suitable for small aircraft integration.
=== Features ===
* only 25mm between thermopiles 
* 0603 components
* axis indications "1" & "2" (IR1 & IR2)
=== Hardware support for this board ===
Category:Hardware Category:Sensors/IR
Server

Tools
__TOC__
The server (in sw/ground_segment/tmtc/) is an agent that logs, distributes, and preprocesses messages for the GCS and other agents as described in the system overview.
See DevGuide/Server_GCS_com for the communication between the server and the GCS.
== Options ==
 -b Bus	Default is 127.255.255.255:2010
 -http Send http: URLs (default is file:)
 -hostname <hostname> Set the address for the http server
 -port <port> Set http port for serving XML and KML files (default is 8889)
 -kml Enable KML file updating
 -kml_no_http KML without web server (local files only)
 -n Disable log
 -timestamp Bind on timestamped messages
 -no_md5_check Disable safety matching of live and current configurations
 -replay_old_log Enable aircraft registering on PPRZ_MODE messages
 -help Display this list of options
 --help Display this list of options
== Running server and GCS on different hosts ==
Upon startup the GCS requests the CONFIG message from the server, which contains the URLs to the aircraft configuration files.
Normally these are sent as file URLs, e.g. file:///home/user/paparazzi/conf/airframes/your_airframe.xml.
Which implies that you need the exact same configuration files on the computer where you start the GCS.
=== Serving XML files via http ===
Usually the nicer solution is to serve the XML files (flight plan, settings, etc) via http from the host running the server.
To do that, start server with the -http option and set the hostname/ip with -hostname host, e.g.
 server -http -hostname 192.168.0.100
and start a http server that serves the contents of the paparazzi directory (Http Server from the Tools menu in Paparazzi Center), or:
 cd ~/paparazzi/
 python -m SimpleHTTPServer 8889
to check if it works, you can open http://192.168.0.100:8889 in your webbrowser where you should see the contents of the paparazzi directory.
Or use netstat to see if 8889 port is opened for listening:
 netstat -l|grep 8889
== Export KML to Google Maps ==
It is useful to export Flight information to Google Map. you can show basic flight information in google map cross platform through IP network.
You will need a webserver runing in the GCS computer, see above.
Then in Paparazzi center, execute a session. Pass some parameters to server agent:
 server -kml -hostname 192.168.0.100(replace with you paparazzi center IP address)
It's done. Now in any computer in the network, open browser to access http://192.168.0.100:8889/var/aircrafts/(you AC name)/
you will see FollowMe.kml file, open it with Google earth. you will be able to see the real time flight information. the information updated are:
 1. AC lat, lon, alt
 2. Flight Plan
 3. current route
----
Category:Tools Category:User_Documentation
Setting up a build environment for overo-oe

follow the instructions on his page:
http://www.gumstix.net/Documentation/view/Overo-Setup-and-Programming/Setting-up-a-build-environment/109.html
(you need a lot of space to reduce the amount of space needed insert 
INHERIT += "rm_work" 
to overo-oe/build/conf/local.conf)
when you are at the command:
$ bitbake omap3-console-image (when you are in a virtual box environment it will take long 12 hours at least)
and build it on Ubuntu 10.04 LTS - the Lucid Lynx - release you will get this error:
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
== patching the kernel for spidev ==
You can follow the instructions on gumstix's website to build a complete cross development environment. Paparazzi's Makefile will default to look for it in /overo-oe
Work is in progress to offer a pre-compiled cross compilation toolchain.
For the moment compiling omap-console-image will generate the cross compiler and libs you need. You also need to compile libevent which is not compiled by omap-console-image ( bitbake libevent )
patching the kernel for spidev -- look where kernel comes from in
 /overo-oe/org.openembedded.dev/recipes/linux/linux-omap3_2.6.32.bb
 git clone git://www.sakoman.com/git/linux-omap-2.6.git
 git checkout d434b954906c4f3e356d64d6b49675c601456f51
 place the following patch into /overo-oe/org.openembedded.dev/recipes/linux/linux-omap3-2.6.32/overo/add-spidev-for-mcspi1.patch
 diff --git a/arch/arm/mach-omap2/board-overo.c b/arch/arm/mach-omap2/board-overo.c
 index 165b6bd..fbe3be4 100644
 --- a/arch/arm/mach-omap2/board-overo.c
 +++ b/arch/arm/mach-omap2/board-overo.c
 @@ -625,6 +625,14 @@ static struct spi_board_info overo_spi_board_info[] __initdata = {
 .mode = SPI_MODE_3,
 },
 #endif
 + {
 + .modalias = "spidev",
 + .max_speed_hz = 48000000, //48 Mbps
 + .bus_num = 1,
 + .chip_select = 1,
 + .mode = SPI_MODE_1,
 + // .controller_data = &spidev_mcspi_config,
 + },
 };
 
 static int __init overo_spi_init(void)
 remove ads and lgphillips from /overo-oe/org.openembedded.dev/recipes/linux/linux-omap3/overo/defconfig
 really in /overo-oe/org.openembedded.dev/recipes/linux/linux-omap3-2.6.32/overo/
 edit /overo-oe/org.openembedded.dev/recipes/linux/linux-omap3_2.6.32.bb 
 SRC_URI_append = " \
 file://${BOOT_SPLASH} \
 file://add-spidev-for-mcspi1.patch;patch=1 \
 "
 bitbake -c clean linux-omap3
 bitbake -c configure linux-omap3
 bitbake -c rebuild linux-omap3
 the defconfig I changed is in 
 /overo-oe/tmp/work/overo-angstrom-linux-gnueabi/linux-omap3-2.6.32-r51/
Category:Software Category:Developer_Documentation
Setting up simulation environment

This page will guide you step-by-step through the process of setting up an environment to simulate the AR.Drone 2 controlled by Paparazzi. This will describe how to set up the simulation environment in Linux. It has been tested using Ubuntu, but it should work under any recent distro.
*Install the ground station. See Installation.
*Install JSBSim. See JSBSim.
*Install Flightgear and link it to Paparazzi. See Simulation#View_the_simulation_in_Flight_Gear.
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Software/Index

*InstallationInstalling and configuring Paparazzi
*Paparazzi CenterConfiguring and running Paparazzi
*Airframe ConfigurationGeneral firmware setup
**Fixed-wing Configuration
**Rotorcraft Configuration
**Subsystems
**ModulesAdd new airborne code in a flexible way
**Autopilot GenerationDesign your own autopilot modes
*Ground StationGround station use and configuration
*Simulation
**Rotorcraft simulator
*Autonomous Navigation
**Flight PlansCreating and editing a flight plan
**Advanced Navigation RoutinesDescriptions of advanced user created navigation routines
**MissionControl your aircraft with a mission-oriented interface
*FlashingUpdate the autopilot firmware
*TuningFlight testing and tuning procedures
*LogsLog analysis and replay
*Software ToolsVarious software tools and additions to Paparazzi
Solar-Storm

Solar Storm is the result of a conceptual design study for a Hybrid-Solar cell powered MAV. And as far as I can search through the internet Solar Storm is the smallest solar MAV (which is autonomous) in the world (please correct me if I am wrong...).
Frame is especially designed for its particular flight conditions by using computer aided drafting and moulds have been milled precisely with a 3-axis CNC in order to achieve the designed shape and surface quality. 20 S32 Solar cells bonded under vacuum by the help of a silicon based special glue from MAP-Coatings.
You can also check out Fire Storm page to see a version without solar cells.
== Specifications ==
*Span: 500 mm
*Weight: 300 g
*Solar cells: 20 cells, serially linked for a maximum theoretical power of 6.5W
*MPPT: Custom designed Maximum Power Point Tracker
== Performances ==
24 September 2009 
The third flight of Solar-Storm (with 1320mAH battery) has just finished :)
Achieved endurance is:
 
*New Endurance: 90 minutes. 
11 September 2009 
Solar-Storm has only 2 test flights yet. First to tune :) and second to measure the endurance.
The numbers we got from the first flight test (by using only 730mAH battery) are encouraging:
*Endurance: 53 minutes
*Average level-flight consumption: 11-12 W
*Average power from Solar cells: ~4-5 W 
Note: It was a partially cloudy day, sun was hiding behind the clouds for 20 minutes of the flight. 
The following plot show power numbers for 7 minutes. From top to bottom, the curves show:
* (purple) The voltage (V) of the solar cells array
* (orange) The power (W) of the solar cells array extracetd through the MPPT.
* (green) The total current (I) consumed by the whole system
* (blue) The current (I) going out of the battery.
We can observe on the last curve that the battery was sometimes charged in flight !
 
Solar-Storm will be capable of flying more than 145 minutes at its designed conditions. But not tested yet :)
== Acknowledgements==
Thanks a lot to MAP Coatings Company for helping us in the hard bonding process of solar cells on to the wing.
Category:Airframes
Speech

GCS
__TOC__
==Speech==
The GCS is able to provide the messages of the console via the speakers by starting with the option -speech. 
On Ubuntu this works out of the box with speech-dispatcher and espeak.
Make sure speech-dispatcher and espeak are installed
 sudo apt-get install speech-dispatcher espeak
You can test your setup with
 spd-conf -d
On OS X (10.6 tested) this works out of the box with say.
You can test your setup with
 say "whatever you want your computer to say"
Note that in OS X, multiple calls in quick succession from the GCS will start multiple say processes, resulting in multiple messages being spoken at the same time, making it sound rather garbled. This tends to happen when the GCS is first initialized.
== Using festival ==
If you want to use festival instead you need to install some packages and configure the speech-dispatcher to use festival.
=== Packages Installation===
Install festival, speech-dispatcher, speech-dispatcher-festival and python-speechd packages, if not already installed. 
 sudo apt-get install festival speech-dispatcher speech-dispatcher-festival python-speechd
=== Configuration===
Edit speechd.conf in /etc/speech-dispatcher/ with the command 
 sudo gedit /etc/speech-dispatcher/speechd.conf
 AddModule "espeak" "sd_espeak" "espeak.conf"
 AddModule "festival" "sd_festival" "festival.conf"
 #AddModule "flite" "sd_flite" "flite.conf"
 #AddModule "espeak-generic" "sd_generic" "espeak-generic.conf"
 #AddModule "epos-generic" "sd_generic" "epos-generic.conf"
 #AddModule "dtk-generic" "sd_generic" "dtk-generic.conf"
 #AddModule "ibmtts" "sd_ibmtts" "ibmtts.conf"
 #AddModule "cicero" "sd_cicero" "cicero.conf"
 
 DefaultModule festival
Optionally edit festival.conf in /etc/speech-dispatcher/modules/ and change/uncomment the following lines (these are the defaults so they don't need to be uncommented if not changed): 
 # Address where the Festival server runs (you have to 
 # have a Festival server running, please see documentation).
 
 FestivalServerHost "localhost" 
 FestivalServerPort 1314
=== Starting the applications/servers===
Type in the command window:
 festival --server
You can test with
 spd-conf --test-festival
 spd-conf -d
You might have to kill your current speech-dispatcher for the changes to take effect.
Start the GCS with the -speech option and there you go!
Category:GCS Category:User_Documentation
Student Projects

This page is a collection of past and current Paparazzi based student projects.
Most of these projects use features or code that is not maintained by the core developer group and are not included in the master branch of the Paparazzi code base. If you want to adopt one of these orphan projects, fell free to contact the paparazzi developers.
* Ipodrom: A GCS on a cell phone before the smart-phones
* Paparazzi On the Web: A web-based GCS
* Corsica: A long endurance micro-UAV project
* Flight_log_book: Store your flight logs on a web server
* Mission_planning: Plan your missions for a fleet of MAV
* New_Gaia: A brand new environmental simulator
* TU Delft - Autonomous Quadrotor: An autonomous quadrotor without using ARDrone SDK
* TU Delft - StratoBlimp: An autonomous UAV launched from a balloon in the stratosphere.
* ENAC - Autofocus: User friendly IMU calibration tool
Category:Developer_Documentation Category:Projects
Subsystem/gps

Subsystems
Currently possible GPS subsystems are
type 	architectures	firmwares 	notes
ublox 	all 	all 	recommended
ublox_utm 	all 	fixedwing 	for the older ublox4 series that still have a UTM message
skytraq 	all 	rotorcraft	some fields missing in the skytraq protocol for fixedwings, see #167, fixed
mediatek_diy	all 	fixedwing 	
nmea 	stm32 	all 	only basic position and fix information, see #120, fixed
sirf 	all 	rotorcraft	
Just specify the appropriate subsystem in your firmware section.
=== Configure Options ===
If a configure option is not specified the default is used. 
* GPS_PORT: UART0, UART1, etc.
** default: The correct UART is already defined according to your board.
* GPS_BAUD: B4800, B9600, B38400, B57600, B115200
** default: Already defined according to your board (e.g. B38400 for Lisa/M v2.0).
* GPS_LED: 1, 2, 3, none
** default: Already defined according to your board (e.g. 2 for tiny2 or twog).
Defaults can be found in the board makefile (e.g. conf/boards/ardrone2_raw.makefile).
If you use different baud rates or UART set the according parameters, e.g.
Notes:
* u-blox GPS modules are factory configured for 9600 baud, 38,400 baud is recommended along with the other required changes. The GPS can be accessed directly thrugh the UART Tunnel and Configured with u-center
* You can also use the GPS u-blox U-Center module to automatically configure baudrate and messages for your u-blox GPS on startup.
Category:User_Documentation Category:Subsystems