nyuuzyou/wikis huggingface dataset:
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NoVa

<< Back to Airframes
	
NoVa is a new quadrotor that uses Paparazzi hardware as well as software. The goal of this project was to create a durable and affordable quadrotor that integrated with the existing paparazzi project. Custom airborne software links NoVa to the paparazzi GCS. Segregating its specific code will allow users to fly their fixed wing UAVs in the same up to date CVS tree as NoVa. 
Hopefully soon you will see more updates, pictures, videos, and hopefully build plans. For now let me leave my email akochevar@gmail.com. If you have any questions feel free to drop a line. Enjoy the pictures!
UPDATE 10/07/08: With some coaxing from a buddy, I implimented the kalman filter from Rotomotion tonight. Seems to function similarly to my comp filter, but tighter, with less overshoot and historysis. Ill fly it this weekend and see if it makes things better. 
Also, I have a new LEA5H gps on the way, along with an ultrasonic altimeter. Should be a couple fun toys to play with.
More info on Paparazzi VTOL applications can be found on the Booz page.
== Features ==
* Inexpensive brushless motors
* Uses traditional brushless ESCs
* Onboard Tiny2.0 makes it paparazzi compatible
* Real time tuning and plotting using paparazzi GCS
* Attitude Stabilization using IMU + Complimentary filter 
* Rugged Construction of fiberglass and carbon fiber
== Specifications ==
* Rotorspan: 27.0" (686mm)
* Weight: 24oz (670g) _all up_
* Weight w/o battery (for estimation): 16oz (450g)
* Flight duration w/ 4100mAh battery ~ 15 minutes
=== Payload Options ===
*Approximately 200 gram payload capable.
== Current Setup and BOM ==
=== Airframe ===
Qty
* 1 0.250" Square carbon tube - www.cstsales.com
* 1 0.125" Wood dowel - Local hardware store
* 1 1/16" 12x12 G-10 Composite sheet - www.mcmaster.com
* 32 1/2" 2-56 flat machine screw - www.mcmaster.com
* 32 2-56 machine nut - www.mcmaster.com
* 12 1/4' 2-56 aluminum M-F standoffs - www.mcmaster.com
* 4 3/4' 2-56 aluminum M-F standoffs - www.mcmaster.com
 
=== Power Plant === 
Qty
* 4 1300 Kv Brushless outrunners - www.hobbycity.com
* 4 CC Phoenix 10 speed controllers - www.epyaya.com
* 4 10x4.7 propellers 2 each direction - www.toddsmodels.com
* 4 Prop saver Prop adapters - www.hobbycity.com
* 1 2 cell 4000mAh battery - www.thunderpower.com
=== Electronics ===
Qty
* 1 Paparazzi autopilot - www.doityourself.com
* 1 Xbee radio modem(or similar) - www.maxstream.net
* 1 Berg 4l RC receiver - www.balsapr.com
* 1 3 axis accelerometer - www.sparkfun.com
* 3 1 axis ADXRS150 Gyros - www.sparkfun.com
Estimated Parts cost ~ $600 + autopilot
== Photos ==
Category:Airframes
OLSR

The Optimized Link State Routing Protocol (OLSR) is an IP routing protocol optimized for mobile ad hoc networks, which can also be used on other wireless ad hoc networks.
A free implementation of this protocol is called olsrd. It needs to run a daemon, both on the airborne and ground side, and is used on Linux based platforms (ARM or X86).
== Installation ==
=== On the ground station ===
The olsrd package is available on debian/unbuntu systems.
 sudo apt-get install olsrd
Otherwise, follow installation instruction from http://www.olsr.org
=== On the airborne side ===
After getting the source code from http://www.olsr.org, it is possible cross-compile (or do an embedded compilation) of the code for your specific target.
If you intend to use olsrd on the AR.Drone2 using Paparazzi, the network configuration script can upload the necessary files and a pre-compiled binary of the program
 cd ${PAPARAZZI_SRC}/sw/tools/parrot
 ./ardrone2.py configure_network ardrone2_adhoc 192.168.1.1 ad-hoc-olsr
Say yes, if the script ask you to update wifi script or upload olsr files. You can have to complete options with:
 ./ardrone2.py configure_network --help
== Usage ==
=== Airframe configuration ===
olsrd doesn't allow to use broadcast communication. So you have to disable this on the UAV, and also provide the address of the ground station. This is simply do by adding to your firmware section the following instructions (in an airframe based on ardrone2_raw.xml for instance):
 <configure name="MODEM_HOST" value="192.168.1.100"/>
 <configure name="MODEM_BROADCAST" value="FALSE"/>
=== Running olsrd ===
Once you have configured the ARDrone2 to use olsr it will automatically start to use it.
On other platforms or ground station, you first need to create an new ad-hoc connection with an address different than the one of the UAVs you are using (like 192.168.1.100 for above configuration).
Then you need to start the daemon yourself (as root). You can use the default configuration or the file that comes with paparazzi in $(PAPARAZZI_HOME)/conf/system/olsrd, and maybe your wifi interface.
 sudo olsrd -f $(PAPARAZZI_HOME)/conf/system/olsrd/olsrd.conf -i wlan0
Now, if you are using several aircraft, the packets should be dynamically routed, providing natural relays.
Category:Software Category: AR Drone 2
OMAP

__TOC__
The Texas Instruments OMAP processors have been integrated into a number of popular, low-cost and powerful single-board computers and COMs (computer-on-modules) to provide full Linux OS access with both high- and low-level hardware interfaces (such as USB 2.0, ethernet, serial, SPI, I2C, etc.). Some of the most popular and accessible platforms include the Gumstix Overo series and the Beagleboard series.
It is noted that while there have been a variety of successful integrations, some experimentation may be required due to limited documentation and the large number of potential applications.
== Autopilot Integration ==
OMAP boards can be connected to a number of Paparazzi autopilots in two ways:
* using a Gumstix board as a daughterboard, as in Lisa/L or the Classix.
* connecting to an OMAP board externally with a cable of some sort
There are several feasible interface methods (some have been explored thoroughly, others less so):
* SPI connection (as used on Lisa/L)
* Serial connection
* USB connection (often as a USB serial port, with the autopilot in peripheral mode connected to an OMAP host port)
==Gumstix Overo==
Brief description, target integration (directly on Lisa/L, combination with TWOG or others)
List of documentation (some more complete than others):
*Lisa_USB - Notes about USB ports on Lisa/L and compatible devices
*Lisa_Logitech_Camera - Notes about streaming from a USB webcam
*LisaOveroImage - Building an Overo image for Lisa with Open Embedded
*Dev/Caspa - Describes the work to fully integrate a Gumstix Caspa FS camera on a Lisa/L board
*Overo - Interfacing a Gumstix Overo to an LPC21xx autopilot like the TWOG
*Setting_up_a_build_environment_for_overo-oe - Notes on setting up a build environment for overo-oe
*Bitbake_libevent - Notes on how to bitbake libevent for the Overo
==Other Boards==
Beagleboard, Pandaboard, etc... No documentation yet, please add if you have experience :)
==Historic==
===Gumstix Basix===
The Classix autopilot was the first Paparazzi board to allow a Gumstix Basix as a daughterboard.
Category:Hardware
Optical flow

The optical flow module in Paparazzi allows for the extraction of flow information from a video thread. This is particularly useful to extrapolate the velocity of the vehicle with respect to the ground or the environment. 
=Pipeline Overview=
The optical flow pipeline can be summarized as follows:
* The opticflow_module.c script looks at up to two different video threads
* The opticflow_calculator.c script runs a set of pre-selectable algorithms to extract the flow messages
* The opticflow_module.c script publishes the ABI message OPTICAL_FLOW for later processing
=Usage=
The opticalflow module requires a correct tuning of parameters in order to perform efficiently in terms of execution speed and accuracy.
Here a set of advice is reported for a pipeline operating with:
* ACT_FAST algorithm for corner detection
* LUKAS_KANADE algorithm for feature tracking
For proper operation, keep in mind that:
* ask for frames that you will use: if your camera sends more FPS than what the OPTICFLOW_FPS parameter specifies, the pipeline slows down. Tune both the FPS of the camera driver and the FPS of the module accordingly. 
* find the sweet spot between resolution and execution time: the LUKAS_KANADE algorithm requires convolution over the images to execute; this means that the speed of the process is affected by the resolution of the convoluted image. It is therefore not useful to run with high resolution images if lower resolution ones provide a good result as well. 
* if you decide to use the Lukas Kanade algorithm, the PYRAMID_LEVEL parameter needs to be accurately selected: the higher, the slower the process. Sometimes a high level is not required; it depends on the task. You can find information on the meaning of this parameter here http://robots.stanford.edu/cs223b04/algo_tracking.pdf.
Other Hardware/Index

*RC Receivers and RadiosPPM, PCM and 2.4GHz systems
*PPM Encoder BoardsGet a PPM signal without any modifications to the receiver
*Serial AdaptersUSB <-> Serial adapters
*Debug Probes / JTAG
*Connectors and Wiring
*Logic Analyzers and Chargers
*Antenna Trackers
*Analog & Digital Video Systems
*ESCBrushless motor controllers
PPZUAV SHIPPING

USPS Shipping Warning
Please read below before making your choice to use USPS. We completely understand you may have ordered items and used US Postal with good success in the past (USPS has lost 2 shipments to date). We are simply giving you our experience so you can know that without tracking there really is no accountability when using USPS. For USA customers use FedEx Ground it is very inexpensive. 
FAQ:
* US Postal calculations always selects the most expensive shipping. This is a bug with the USPS site and can not be avoided. USPS International Flat Rate is approximately 15.00. We will issue a refund of the difference after we ship your order back to the payment type you used for your order.
* Customs: Can you please declare the order for a low amount to avoid taxes?We are obligated by law to list all items (Packing Slip) and the value regardless of shipping company. A packing slip will be included. This will help your order to clear customs faster
Please check the PPZUAV website often as we expand our product offering. 
Category:Suppliers
Pixracer

=Pixracer=
Since the Pixracer is open but not designed by the Paparazzi team, also the most information can be found on 3rd party websites
A good starting point for more in depth information about the hardware can be found here. For all the Software related to Paparazzi on the Pixracer, this wiki should be a good place to read.
Some nice openhardware developers designed a new Autopilot called the Pixracer. They probably took e good look at the Apogee board and decided to build something similar, nice and small. They called it the Pixracer aka XRacer. The new HW board has opensource open schematics that made life much easier porting Paparazzi to it. 
Would it not be great being able to run Paparazzi on it? 
The paparazzi team has set to work and now you can enjoy running Paparazzi Autopilot on this Pixracer v1.0 board.
It is up to you to choose the Chibios based version or the Bare metal.
=Buy=
One can buy it here:
* "Official" hardware
* "Clone" hardware
* another "Clone" hardware supplier
=More=
This wiki is not the only place to get some info about the Hardware ofcourse. Here some more.
=Example=
Here two example airframes:
* OpenUAS Eflight-T28
* TU Delft Splash
=Extra=
* The RTS pin of Telem2 can be used as PWM input when needed
* The RSSI pin is just an analog input thus other sensors which output analog signal can be used via that pin
=Links=
* None so far
Category:Autopilots
Plotter

Tools
__TOC__
== Basic Log Plotter ==
The plot program (in sw/logalizer/) is a facility to plot data recorded in a log. Main features:
* Multi-logs, multi-windows
* Multi-curves, constant curves
* Auto and manual display scaling
* Value scaling
* PNG snapshot
* Export of the flight track as a KML file for Google Earth
* Export synchronized values as a CSV file
===Try it===
Launch the plotter with (or from the Paparazzi Center)
 sw/logalizer/plot
from a shell.
Open (CTRL-O) a log (from the var/logs directory). A menu for each aircraft is inserted in the menubar. Select a field from this menu to plot it.
The curve can be scaled by a factor and an offset (separated with a "+") can be added by entering a value in the "Scale next by" entry. For example the value "1.8+32" translates degrees Celcius into degrees Fahrenheit. For example, to compare the desired and the measured pitch attitude, select "theta" from the "ATTITUDE" message with a (default) scale of 1., then set 57.3 (to convert radians into degrees) in the scale box and select "pitch" field from the "DESIRED" message.
To zoom on the curve, unselect the "Auto Scale" checkbox and choose the appropriate time/Y min and max.
A curve can be deleted from the "Curves" menu.
Open another window from the File menu (CTRL-N): the log menu will be inserted into any new window.
Save a screenshot of the window as a PNG image from the File menu (CTRL-S).
Export a KML file from the log menu.
====Export values in CSV format====
From the log menu, the "Export CSV" entry allows to export synchronised values to raw text format (which then can be imported in any spreadsheet, scilab, ...). It opens a popup window where values from the messages to export are chosen. Timestamped lines of values (separarated with semicolons) are produced on a periodic basis (e.g. 0.25s) or synchronously with a chosen message (e.g. GPS). Exported values at time t are the values from the more recent messages (if available). The configuration (clicked values) is saved (in conf/%gconf.xml) and loaded as default.
Example of the export output:
 Time;GPS:climb;GPS:speed;ATTITUDE:theta;ATTITUDE:phi
 4.160;;;;
 4.410;0;0;;
 4.660;0;0;-30;-22
 4.910;0;0;-30;-22
 5.160;0;0;-22;-21
 5.410;0;0;-22;-21
Category:Tools Category:User_Documentation
Plotting shapes onto GCS

Messages can be sent over the IVY bus to plot shapes onto the GCS.
These shapes include circles, polygons, lines and text. 
Shapes such as circles and polygons may have a fill with varying opacity.
Message Definition
 <message name="SHAPE" id="38">
 <description>
 The SHAPE message used to draw shapes onto the Paparazzi GCS.
 Field name shape is used to define the type of shape i.e. Circle, Polygon, Line, or Text.
 This is indexed from 0-3 respectively.
 Each shape drawn must have an id number associated with it. 
 This id number in conjunction with the shapetype will be needed to update or delete the shape. 
 A circle can be defined with the same id as a polygon but since they have different shape types they are considered unique.
 linecolor and fillcolor take in a color string ie: "red", "blue" 
 opacity will change the level of transparency of the fill.
 0 - Transparent
 1 - Light Fill
 2 - Medium Fill
 3 - Opaque
 Passing a status of 0 will create or update the shape specified by id and type.
 Passing a status of 1 will delete the shape specified by id and type.
 latarr is an array of coordinates that contain the latitude coordinate for each point in the shape. 
 The array is comma separated.
 lonarr is similar to latarr but contain the longitude coordinate for each point in the shape.
 Circle and Text type will take the first coordinates given to place the shape.
 Polygon will take all the coordinates given.
 Line will take the first two coordinates given.
 Radius is only used for the circle.
 Text will always be populated with each message using the first set of coordinates.
 The text field can not be blank or have spaces.
 If text is not desired for a shape then pass "NULL" into the text field.
 </description>
 <field name="id" type="uint8"/>
 <field name="linecolor" type="string"/>
 <field name="fillcolor" type="string"/>
 <field name="opacity" type="uint8" values="Transparent|Light|Medium|Opaque"/>
 <field name="shape" type="uint8" values="Circle|Polygon|Line"/>
 <field name="status" type="uint8" values="create|delete"/>
 <field name="latarr" type="int32[]" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
 <field name="lonarr" type="int32[]" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
 <field name="radius" type="float" unit="m"/>
 <field name="text" type="string"/>
 </message>
Example Messages:
Poine s Boards

==Classıx==
 * Twınjet 1
 * Twınstar 6
 * Twinstar II (Martin)
 * (Martin)
==Tıny proto==
 * Lost (Slayer)
 * Slayer 1
 * Slayer 3
 * Black one
 * Mınımag Murat
==Tıny 0.99 (13mm)==
 * 1: (ENAC)
 * Alim: 5V OK,3.3V OK
 * Oscillator: OK
 * Bootloader: uploaded
 * GPS TX (ant 20mm): OK, 38400, TFF=1:10, battery ok
 * Modem: OK (TX &, RX)
 * Bat ADC: OK
 * ADCS: all OKs
 * Servos: OK
 * (UOA)
 * 3: (ENAC)
 * Alim: 5V OK,3.3V OK
 * Oscillator: OK
 * Bootloader: OK
 * GPS !!! 4H !!! TX: OK, 38400, configured with POSLLH message, TTF: 2:30+1:00, bat ok
 * Modem: OK (TX &, RX)
 * Bat ADC: OK (-0.1 : 10V real gives 9.9V measured)
 * ADCS: All oks
 * Servos: Oks
 * Mınımag 1
 * 4: Funjet 1
 * 5: (ENAC) Out of order
 * Alim: 5V OK,3.3V OK
 * Oscillator: OK
 * Bootloader: loaded, not running . P0.23 = 2.3V, should be 3.3V. No led with test_adcs
 * 7: (ENAC)
 * Alim: 5V OK,3.3V OK
 * Oscillator: OK
 * Bootloader: OK
 * GPS TX: OK, 38400, TFF=1:30, battery ok
 * Modem: OK (TX &, RX)
 * Bat ADC: OK (-0.2 : 10V real gives 9.8V measured)
 * ADCS: all OKs
 * Servos: OK
 * 14: ENAC
 * Bootloader, USB, Telemetry, servos
==Tıny 1.1 (13 mm)==
 * 1: (ENAC, ex Slayer2)
 GPS 4H, 13mm: poor performances, TFF=5mn (out of the plane)
 * 2: Mıcrojet 6
 * OrangeOne
 * FunJet (Martin)
 * (Jeremy)
 * (UOA)
 * 11: ENAC, Bootloader, USB, Telemetry
 * 12: Supaero, tyto1
 * 13: Supaero, OK
 * 21:
 * 22
 * 23
 * 24
 * 25
Category:User_Notes