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首页Paparazzi无人机系统详解:开源硬件与软件项目全攻略
"Paparazzi是一个全面且开源的硬件和软件项目,主要关注无人机(Unmanned Aerial Vehicle,UAV)领域的开发,特别是多旋翼、固定翼、直升机和混合型航空器的自动驾驶系统。这个项目不仅包含飞控板的软硬件设计,如卡尔曼滤波代码,还包括了关键组件如稳压电源、GPS定位系统,以及高级的地面控制软件界面,使得用户能够进行定制和扩展。它提供了一个完整的解决方案,覆盖了从硬件平台(如数传电台、天线、不同制造商的模组如Digi、Laird和Radiotronix等)、传感器(如惯性测量单元IMU、GPS、空速计等)到软件源代码的开发。 在Paparazzi UAV系统中,用户可以从官方网站获取详尽的指南,如系统概述,包括整体架构和功能介绍,以帮助新手快速入门。网站上设有常见问题解答(FAQ),解答了关于安装、配置和使用过程中可能遇到的问题。此外,用户列表和作品库展示了活跃社区的贡献,包括照片、视频和个人项目的分享,这为学习和创新提供了丰富的参考资源。 对于硬件支持,Paparazzi兼容当前、过往和未来的版本,允许开发者针对不同类型的飞行器和特定需求选择合适的硬件。同时,项目鼓励开源精神,通过IRC(Internet Relay Chat)和电子邮件联系方式与开发团队保持紧密联系,共同解决技术问题和推动项目的进步。 除了核心的自主飞行控制,Paparazzi还涵盖了广泛的应用领域,如媒体、论文、报告和用户项目链接,展示了该项目在科研、新闻报道和实际应用中的多样应用。Paparazzi不仅是飞行器控制的基石,也是一个促进技术创新和社区合作的强大平台。"
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Getting Started - PaparazziUAV
http://wiki.paparazziuav.org/wiki/Getting_Started[2015/7/20 10:02:51]
Getting Started
Contents [hide]
1 Introduction
2 Tutorials
3 Install the Ground Station
4 Run a Simulation
5 Hardware considerations
5.1 PC
5.2 RC Transmitter / Receiver
5.3 Airframe
5.4 Autopilot board
5.5 External Components
5.6 Example list
6 When the autopilot arrives
7 Upload the bootloader
7.1 STM32
7.2 LPC21
8 Build all required xml files
8.1 Airframe
8.2 Flight plan
8.3 Settings
8.4 Radio
8.5 Telemetry
9 Flashing
10 Simulation
10.1 software simulation
10.2 Hardware simulation
11 User's Manual
12 If everything else fails
Getting started with Paparazzi is not difficult if you follow the steps as described in this Wiki. This
article will try to take you through all needed steps by hand :-). It take some persistence if things
do not work out immediately , but in the end everyone will reach their goal.
There are already some complete tutorials (specific for one AP and Airframe)
Look at the Tutorials site.
Introduction
Tutorials
Install the Ground Station
Page Discussion Read View source
View hist
Home
Hardware
Software
FAQ
Downloads
Remembering Hecto
Mailing list
Gitter
Contact
How to contribute
Developer Guide
Doxygen docs
Git repository
Build tests
Communication
Development
Wiki tools
Print/export
Tools
Create account Log in
Search
Getting Started - PaparazziUAV
http://wiki.paparazziuav.org/wiki/Getting_Started[2015/7/20 10:02:51]
See Installation Go to the page specific for your OS, download and install all packages.
Download source from git and compile it.
This will show the capabilities of paparazzi. Doing this i not required but it will make further steps
easier.
Now you are ready to start your Simulation.
For your first few simulations you should use the default flight plan (use the Microjet aircraft) and
configuration files in Paparazzi. This will allow you to get the simulator up and running in as little
time as possible so you can see what Paparazzi can do. Once you have familiarized yourself with
what a default Paparazzi simulation can do you will probably want to start building a flight plan
(where the simulated aircraft flies) for your local area. The best way to do this is to go to Google
Maps and type in your local town. Once you have found your local town, get the Latitude and
Longitude of somewhere where you would like to fly your simulated UAV. Now you have the lat
and long go and edit the basic (this is the example flight plan) flight plan and change the HOME
lat and long to the one near your home town. When you change the HOME lat and long, the
whole flight plan and way points will dynamically move to their relative position around your
chosen lat and long. You can now download the Google maps for your chosen area to give it that
realistic look.
Once you are doing this you will quickly be interested in learning more about what you can
configure with Paparazzi. The best place to start to learn how to configure Paparazzi is to edit
your flight plan so you can do more complex things. There are a multitude of examples for you to
use both on the wiki and within the supplied Paparazzi flight plan files.
To try out the simulation, choose an aircraft, e.g. Microjet
1. Then choose "Target -> Sim" it will mean that you are building firmware for usage with
"Simulation" session. Press "Build".
2. After process is done, choose "Simulation" session and click "Execute".
3. We will get two windows: GCS and windows named after our aircraft (e.g. Microjet).
4. Now it is recommended to choose "Maps" -> "Maps Auto" (of course if you have Internet
connection) to see satellite maps in GCS.
5. Then is lower left pane there is a small runway where you must choose "Takeoff".
If everything went well you'll see that your virtual aircraft took off and is making circles around the
"standby" point. All further interactions are made through changing modes of flight plan.
A laptop with Ubuntu is mostly used. Easy to get, transportable.
A 3 position switch is needed to switch between the AutopilotModes.
New 2,4Ghz systems are recommended. (e.g. Graupner MX-12/16/20)
The signal input from receiver to AP board is done with a ppm sum stream. If the receiver can't
output a ppm sum stream a PPM_Encoder board is needed.
Take a look at RC_Receivers_and_Radios for more instructions about transmitter / receiver.
Run a Simulation
Hardware considerations
PC
RC Transmitter / Receiver
Airframe
Getting Started - PaparazziUAV
http://wiki.paparazziuav.org/wiki/Getting_Started[2015/7/20 10:02:51]
General two types of ariframes:
Fixedwing:
Airplanes - here we have all standard airplanes: aerobatic, slowflying and so on.
Gliders - almost the same thing as airplane but with different flight concept. Unlike airplane,
glider mostly relies on motor-less flight, which results in slighter turns and less throttle usage.
Rotorcraft:
Helicopters - mere helicopters that have main and tail rotor.
Tri,Quad,Hexa,Octo-Copters - multirotor platfroms.
Set your requirements:
fast & acro
long range
heavy load
price
other
The Multiplex Mentor (flies very good-natured), Multiplex FunJet (already has prebuilt airframe
configuration files) or Bixler are good starting points.
Talk to a experienced pilot if you want that it exactly meets your needs(but starting with a FunJet
or Bixler will be easier !).
Some other inormation is at the Airframes page.
Autopilots
There a a lot of different boards currently supported. Choose which one will meet your needs
best.
A often used new board won't be the wrong way. (LisaM, KroozSD, Apogee, Tinyv2.11 e.g.)
These 4 extra cathegories can be helpful:
Sensors used for orientation, proximity, leveling, etc. purposes.
GPS sensors that allow accurate positioning.
Modems for communication between GCS and UAV.
OMAP which is portable computer used for on-board data processing.
other hardware some other useful stuff.
This is just a example of a commplete list:
Laptop with Ubuntu
Airframe with servos, ESC, Battery (ready to fly Airframe !)
RC Transmitter and Receiver (Graupner HOTT series)
2 x XBee modules
XBee usb adapter
LisaMV2 with aspirinv2.2 or KroozSD or Apogee AP
NEO-6M GPS Module (Hobbyking, 13€)
FT2232 Mini Module (USB <-> UART Adapter)
Inspection under a microscope for solder bridges and open connections. Repair as necessary.
Autopilot board
External Components
Example list
When the autopilot arrives
Getting Started - PaparazziUAV
http://wiki.paparazziuav.org/wiki/Getting_Started[2015/7/20 10:02:51]
Power using current limited power supply with short protection. Verify power draw is in a
acceptable zone.
Not all boards require a external bootloader and maybe your board comes already with one.
(KroozSD and Lisa/Lia are shipped with their bootloader)
More information is located at Developer_Guide and FirmwareFlashing site.
Luftboot it the most used bootloader for the LisaM/Lia board.
KroozSD and Apogee have a own bootloader.
STM32 MCU have a native dfu boootloader that can also be used. (eg. stm32f4_discovery) See
DFU.
Lpc21BootloaderUpload
This must be done once to get the paparazzi bootloader to a brand new LPC21 chip.
Most information is located on the matching site. A look at pre build xml files can be helpful.
Airframe_Configuration
Airframe describes the way our aircraft flies (fixedwing, rotorcraft), hardware that is used for
control (autopilot, gps, imu, ahrs, servos, etc.), the way hardware interacts with each other
(estimation algorithms for IMU, mixer settings for servos and such) and also allows to set
constants (calibrations for servos and IMU, endpoints for servos, allowed voltage and turning rate
limits and more).
Syntax of config file allows to make includes, so you can place some information like AHRS
settings and IMU calibrations to separate file. It is convenient if you have several airframes that
can use the same AHRS settings, and it also leaves in config file only vital options allowing to get
rid of common constants.
Flight Plans
Here all paths for the fflight plan are specified. (bungee start, different pattern, landing...)
Settings
Just a bunch of general settings. ( max altitide, max distance...)
Radio_Control
This is the setup for the ppm input for the AP Input values, channels e.g. are configured here.
Telemetry
Upload the bootloader
STM32
LPC21
Build all required xml files
Airframe
Flight plan
Settings
Radio
Telemetry
Getting Started - PaparazziUAV
http://wiki.paparazziuav.org/wiki/Getting_Started[2015/7/20 10:02:51]
Privacy policy About PaparazziUAV Disclaimers
This page was last modified on 23 June 2015, at 06:33.
This page has been accessed 78,695 times.
Content is available under GNU Free Documentation License 1.3 or later unless otherwise noted.
This specifies the telemetry data (which data should be transmitted in which peroid)
FirmwareFlashing
Seach for the method your AP board needs, maybe some extra software is needed.
Doing both (soft and hardware) comulations is highly recomendet. You can test if paparazzi or
your code has any bugs.
Simulation
This simulates your code only on the pc.
HITL
With this the AP board will work normal, but all sensor values (gps, imu...) are simulated. This is
the best way to verify the AP is working correct. (is the IMU or GPS is bad, you won't find it with
this simulation !)
Another excellent source of information is the Paparazzi User's Manual.
You might find the Common_problems and XBee_configuration pages useful too.
If you get completely stuck and you read all the above already you can come over to our IRC
channel on Freenode #paparazzi. Some of the Developers are hanging out there and will help
you if you get stuck.
You can also ask in the mailing list, but please don't spam.
Category: User Documentation
Flashing
Simulation
software simulation
Hardware simulation
User's Manual
If everything else fails
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