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DevGuide/Mathlib

The math lib located in sw/airborne/math is used in all airborne code of paparazzi. It provides functions:
* to manipulate euler angles, quaternion and rotation matrix
* for basic trigonometry using fixed-point algebra
* to perform geodetic transform
The generated docs can be found on http://docs.paparazziuav.org/latest/group__math.html
A PDF documentation can also be generated from the TeX files in doc/pprz_algebra and doc/pprz_geodetic.
== Install a shared library to use in other projects (Linux) ==
=== Build library ===
In sw/airborne/math folder, type
 make shared_lib
The default build directory is var/build/math, to change it:
 BUILDDIR=<your_build_dir> make shared_lib
=== Install library ===
In sw/airborne/math folder, type
 make install_shared_lib
The default install dir is /usr and will install files in
 /usr/lib
 /usr/lib/pkgconfig
 /usr/include/pprz
To change the install dir:
 PREFIX=<your_install_dir> make install_shared_lib
Note: the default install dir needs root privilege. For "local" install, it is recommended to change the default install dir for ${HOME}/usr
Note: "make clean" will only clean the build directory
== Use the shared library ==
* with pkg-config --cflags --libs
* by hand:
 LIBS: -L<prefix>/lib -lpprzmath
 CFLAGS: -I<prefix>/include/pprz
Category:Developer_Documentation
DevGuide/Releasing

= Create new release =
First of course the CHANGELOG should be updated.
Stable release series have an even MINOR number, ongoing development has an uneven MINOR number.
A stable release is generally done with the following steps:
creating an annotated tag with vMAJOR.MINOR.PATCH_stable in git. If it is the first release of a MAJOR.MINOR series, also create the vMAJOR.MINOR branch.
Add the release on https://github.com/paparazzi/paparazzi/releases
As the tarballs that github automatically creates don't include the submodules, run
./make_release_tarball.sh
mv paparazzi.tar paparazzi_vMAJOR.MINOR.PATCH_stable.tar
gzip paparazzi_vMAJOR.MINOR.PATCH_stable.tar
and upload this tarball to the github release
Update Paparazzi front page and installation page
Update docs if a new stable branch: adjust index.html and add the branch to the pprz-update-dox.sh script on odin.paparazziuav.org
Category:Developer_Documentation
DevGuide/SampleAp

This page is intended as a HOWTO for paparazzi developer. Instead of presenting the build system in a formal way, we will walk you through the creation of a sample application in Paparazzi. This application is targeted to run on a Lisa/L board. It will consist in receiving data from an IMU connected to the STM32, pass it to the overo which will downlink them to the ground segment for displaying. This will allow us to cover the build system, the use of peripheral drivers and the communications with the ground segment.
== Airframe file and brief presentation of the build system ==
Paparazzi build system is pretty flexible, but can seem complex at a first glance.
- It is able to build software for different vehicles. For a given vehicle, everything starts with a xml file, stored in conf/airframes/my_vehicle.xml. This file is processed by the build system to generate one header and one makefile ( var/my_vehicle/airframe.h and var/my_vehicle/Makefile.ac ).
The file conf/conf.xml holds the list of available vehicles. The name of the vehicle is used 
- It is able to cross compile code for different architectures ( avr, lpc21, stm32, geode, omap3 for the moment ). The makefile responsible for a particular architecture is conf/Makefile.[avr|arm7|stm32|...]
- For each vehicle, it is able to build a number of "targets" ( aka programs), like for example an autopilot and a number of test programs, or in the case of our multiprocessor board Lisa/L, a program for the STM32 and a program for the Overo. 
== Using the uart on stm32 ==
Category:Software Category:Developer_Documentation
DevGuide/Settings

Settings is the generic mechanism that allows to get/set the value of any variable of the embedded code.
==Overview==
===Problem Statement===
Given an embedded program in C, we want a way to set/get the value of any variable without having to write any ad-hoc code.
* The variable can be of any base type (e.g. uint16, int32, float) or a structured type (not implemented yet).
* The variable can be directly accessed (declared in a header) or used through a pair of accessors (e.g. SetVar/GetVar).
* Typically the variable is manipulated through a graphical user interface on the ground station.
* The graphical interface can manipulate the variable in a different unit (e.g. the embedded code uses a binary fixed point representation)
===Solution===
The solution used in Paparazzi consist in describing the variables in a high level xml file, which is then processed to generate embedded code and used by the graphical user interface to display the suitable controls.
==Persistent Settings==
===Problem Statement===
===Solution===
DevGuide/USB-Serial

=USB serial telemetry=
See Subsystem/telemetry
==Application==
Until now you will need an external FTDI cable/chip or a pair of modems if you want to test and debug a Paparazzi system in your lab. This serial USB removes the need for this. It is possible to get telemetry through the same USB interface that you use for download. This USB serial might also be used to connect to an on-board payload processor (e.g. BeagleBoard).
==Usage==
The PCLK is increased to 30MHz (at least 18MHz, thanks for the info, Andre) to make the USB work properly. It is connected instead of Uart0 or Uart1 and uses the transparent PPRZ format. Just replace your telemetry with:
 <subsystem name="telemetry" type="transparent_usb"/>
The USB serial will connect as a modem through /dev/ttyACM0 on a Linux system. Use this as device for the Paparazzi link application. The baudrate can be set to any value as it is fully virtual.
 sw/ground_segment/tmtc/link -d /dev/ttyACM0
Category:Software Category:Hardware Category:Developer_Documentation
Developer Hardware Repository

= Hardware configurations =
The following table shows a list of known hardware configurations and the configuration file used to test the on the hardware during the build process.
Configuration 	Test hardware configuration file 	Test hardware configuration file
Configuration 	Fixed wing 	Rotorcraft
Tiny 2.11 	Tiny_2.11_fw.xml 	
Tiny 2.11 + chime 	 	
TWOG 	 	
Umarim 	 	
Lisa/L v1.1 + B2_v1.1 	 	
Lisa/L v1.1 + B2_v1.2 	LisaL_v1.1_b2_v1.2_fw.xml 	LisaL_v1.1_b2_v1.2_rc.xml
Lisa/L v1.1 + aspirin 	 	
Lisa/L v1.1 + aspirin + overo 	LisaL_v1.1_aspirin_v1.5_overo_fw.xml	LisaL_v1.1_aspirin_v1.5_overo_rc.xml
Lisa/L v1.1 + aspirin2 	 	
Lisa/M 1.0 + Aspirin 1.3 	 	
Lisa/M 1.0 + Aspirin 1.5 	LisaM_1.0_aspirin_v1.5_fw.xml 	LisaM_1.0_aspirin_v1.5_rc.xml
Lisa/M 1.0 + Aspirin 2.0 	 	
Lisa/M 1.0 + Aspirin 2.1 + MS Baro 	 	
Lisa/M 1.0 + Aspirin 2.1 - MS Baro 	 	
Lisa/M 2.0 + Aspirin 1.5 	 	
Lisa/M 2.0 + Aspirin 2.0 	 	
Lisa/M 2.0 + Aspirin 2.1 - MS Baro + BMP Baro	 	
Lisa/M 2.0 + Aspirin 2.1 + MS Baro - BMP Baro	 	
Lisa/M 2.0 + Aspirin 2.1 + MS Baro + BMP Baro	 	
Lia 1.0 + Aspirin 2.1 - MS Baro - BMP Baro 	 	
All configuration files are located in the directory conf/airframes/TestHardware/
Developers

Up to date information on who is working on Paparazzi can be found on GitHub
Below is a very short list of the main people involved in the project in the past as well as their roles.
The paparazzi project does not have a rigid structure like some other projects, but this list should help if you are looking for someone to discuss your problems or ideas or want to contribute.
The list is not in any particular order.
Nickname 	Realname 	Role
Poine 	Antoine Drouin 	Founder
hecto 	Pascal Brisset 	Founder
flixr 	Felix Ruess 	Maintainer & Software developer
gautierhattenberger	Gautier Hattenberger 	Software Developer
dewagter 	Christophe De Wagter 	Software Developer
paulcox 	Paul Cox 	Software Developer
martinmm 	Martin Müller 	Software Developer
lamestllama 	Eric Parsonage 	Software Developer
rbdavison 	Bernard Davison 	Software Developer, CI server & Portability maintainer
bartremes 	Bart Remes 	Software Developer
openuas 	Erik vanderHorst 	Software Developer
noether 	Hector Garcia de Marina	Control engineer and Software developer
stephend 	Stephen Dwyer 	Documentation and Wiki coordinator
esden 	Piotr Esden-Tempski 	Software & Hardware developer, IRC Admin, Mailnglist Admin
Category:Community
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Downloads

__TOC__
All official sources, schematics, etc. can be found on the github page of the Paparazzi Autopilot Team.
== Paparazzi Source Code ==
* The main Paparazzi software source code is hosted in the paparazzi repository on github.
:https://github.com/paparazzi/paparazzi
See getting the code on the Git page for more options and info.
* See the software updates section to update your existing paparazzi code.
== Paparazzi Hardware Designs ==
* Download Eagle schematics and PCB files for autopilots, sensors, and miscellaneous hardware.
*: https://github.com/paparazzi/paparazzi-hardware
* Be sure to download both *.brd and *.sch files and use Cadsoft Eagle version 6 or newer to view them. (free version)
* If downloading the raw files directly from github fails please clone the repository using git to your computer and try accessing the files again.
== Paparazzi User's manual ==
* 
== User Submitted Files ==
* Upload your patches, scripts, etc. here. Please sign your entry!
=== Matlab Files ===
=== Other Files ===
* Link to paparazzi on your gear: 
Category:Software Category:Hardware Category:Developer_Documentation Category:User_Documentation
Doxygen

Doxygen is a documentation system that also extracts information from the source files directly.
Daily generated docs for the development and stable branches can be found on docs.paparazziuav.org.
== Generating Doxygen Code Documentation yourself ==
A way to look at the includes and dependencies is to use the graphs generated with doxygen. After installing Paparazzi, install Doxygen:
For Ubuntu precise a backport of doxygen_1.8.4 is available in the ppa:flixr/backports:
 sudo add-apt-repository ppa:flixr/backports
 sudo apt-get update
 sudo apt-get install doxygen graphviz
run the documentation generation from the paparazzi/ directory (will generate module descriptions and run doxygen):
 make dox
Prior to paparazzi_version v5.1_devel-234-gb1eb25e run doxygen manually from the paparazzi/ directory:
 doxygen
Now Doxygen will have generated html documentation (open this with any web browser) in your paparazzi/docs/generated/html folder.
The main documentation page is:
 paparazzi/doc/generated/html/index.html
This is a sample of a Doxygen Graph:
== Doxygen Style ==
The Paparazzi Doxygen style guide is of course written in doxygen as well ;-)
Please document the code using doxygen comments instead of normal comments where appropriate.
See the Doxygen Manual for more details.
=== File ===
 /**
 * @file subsystems/nav.h
 * Navigation library.
 *
 * This collection of macros and functions is used by the C code generated
 * from the XML flight plan.
 */
=== Function ===
 /**
 * A brief one line description.
 *
 * Detailed description
 * May span multiple lines or paragraphs as needed
 *
 * @param Description of method's or function's input parameter
 * @param ...
 * @return Description of the return value
 */
 int function(int parameter)
 {
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 return 0;
 }
Category:Software Category:Developer_Documentation
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Eagle Tips

The Eagle CAD drawings and schematics are available from the Downloads page. A freeware version of Eagle program is available for Linux or Windows that allows for viewing and printing the hardware files.
== Printing Schematics ==
Paparazzi schematics were drawn to print on an A4 sheet which is 210mm x 297mm (8.26in x 11.7in). North America uses the Letter size of 8.5in x 11in and will print fine onto two Letter sheets but it is more convenient to print onto a single Letter sized sheet. Below are instructions for how to do this.
From Windows:
With the schematic open go to File -> Print and you will see the print dialog
Under STYLE, check off ROTATE, BLACK, and SOLID
Scale Factor is the important setting and you will want to put 0.65. If it cuts too much off, try lowering this number by 0.1 each time.
Under sheets check off select all to print all of the schematic pages 'or' select This to print the schematic page you were currently looking at.
== Gerbers ==
The format generally accepted by PCB manufacturers is called gerber and is a collection of individual files representing each layer or aspect of the PCB. The gerber files can be produced using the CAM processor of Eagle. The commands needed for this operation in Linux are contained in the Makefile of the hw directory, and thus typing make gerber from this directory will produce a set of gerbers.
The Makefile can also be used to get the CAM processor to generate printable documents for the schematics and implantation of parts (pdf and postcript) . Typing make printable in the hw directory should do the trick.
== Panels ==
If you're going to have PCBs manufactured, you'll probably want to fit several boards on a sheet. This is called a panel. The paparazzi3/hw/panel directory contains a makefile and some config files that will allow you to do that. It uses the gerbmerge program. See how to install on ubuntu gerbmerge install. The gerbv program will allow you to check your results.
After completing the layout.cfg and layout.def files in the panel directory, all you have to do is type make _panel. Then, to view the result, make _view
== 3D views ==
3-D renderings can be produced using the eagle3d script and the povray raytracer. A copy of this script and associated povray libraries are in the paparazzi3/hw/ulp and paparazzi/hw/povray.
To produce such a view from the eagle board view click the ulp button and select the paparazzi3/hw/ulp/3d41.ulp script. The script will produce a file usable by povray. Have the script put the generated file in the paparazzi3/hw/povray directory. Then in this directory, issue the following command povray tiny.pov to have povray generate the image.
Category:Hardware Category:Software Category:Developer_Documentation