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    TU Delft MAVLab course 2019 (#2… (compare)

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Gautier Hattenberger
@gautierhattenberger
@haniie if you remove the motor_mixing and the function call, it should still compile (I checked on one of our airframe). What kind of error do you have ?
which delfly files are you using as a base ? delfly_nimble ?
haniie
@haniie
@gautierhattenberger yes,delfly nimble.you 're right!I removed them and it compile successfuly!
alinscodes
@alinscodes
Hi. Why I can't delete post on discuss.ardupilot even though it is my post ?
Freek van Tienen
@fvantienen
this is paparazzi not autopilot
alinscodes
@alinscodes
my bad, saw "discuss" description and though it was for ardupilot
Jiamster
@Jiamster
Hi there, has anyone faced the problem of having zero values for their AHRS?
I am using a LisaMXS (LisaMX V2.1) with MPU6000 as my IMU and no magnetometer and no GPS. There is definitely telemetry as the battery values are updating. But my AHRS keeps reading zero (Including raw IMU sensor values are zero)
ax, ay, az, gp, gq, gr = 0
I am using the quadthopter file
Gautier Hattenberger
@gautierhattenberger
@Jiamster the airframe file should be fine to at least provide some IMU data. If you don't have anything at all even in raw data messages, you should check the electrical connection and the data transfer using an oscilloscope or a logical analyzer.
djchris261
@djchris261
Hello everybody, I am trying to configure the new U-Blox M8P receiver of my Parrot Disco as RTK-GPS. For this is I am trying to create a TCP connection from U-center to my Disco. My steps until now involve creating a TCP tunnel from the drone`s side with "nc 192.168.42.3 12345 </dev/ttyPA1 >/dev/ttyPA1". I can listen to this connection successfully on my laptop using "nc -l 12345", however, I have trouble forwarding this connection to either a Wine serial port or establishing a TCP connection with U-center directly. Did anybody have a similar problem already or knows another way to configure the GPS directly?
Gautier Hattenberger
@gautierhattenberger
Their is this module http://docs.paparazziuav.org/latest/module__gps_ubx_ucenter.html which can be used to configure dynamically the gps. I don't think their is anything special for RTK mode, but maybe this can be added if you don't succeed to make a direct connection to the GPS.
djchris261
@djchris261
Okay, thank you! I will take a look at that module then next
Stephen Hulme
@audaxes
Can this rotorcraft survey flight plan be updated so it will compile without error?
Gautier Hattenberger
@gautierhattenberger
@audaxes do you already have a patch for that ?
Stephen Hulme
@audaxes
@gautierhattenberger - no - do you know which patch broke it? -it certainly worked in the past.
Gautier Hattenberger
@gautierhattenberger
I'm on vacation for 1 week, I'll look at that later
Stephen Hulme
@audaxes
@gautierhattenberger Thank you - enjoy the time off.
Nailong Wu
@hughhugh
Hi, I am new to the Paparazzi project. I wana know where can I buy the board that support Paparazzi. Thank you.
Gautier Hattenberger
@gautierhattenberger
@hughhugh Hi. Unfortunately, our supplier of Apogee and Chimera (Drotek) have stopped producing them, so you might try to see with https://1bitsquared.de/ if they have some boards still available.
We are currently finishing the design of a new board http://wiki.paparazziuav.org/wiki/Tawaki/v1.00 but we don't have an official provider yet.
You can also use Parrot drones like the Bebop2 (http://wiki.paparazziuav.org/wiki/Bebop) to run the Paparazzi software with hardware modifications.
Freek van Tienen
@fvantienen
a Pixhawk 4 is what im using currently
Nailong Wu
@hughhugh
Thank you
Does Pixhawk 2.4.8 support ppz?
Nailong Wu
@hughhugh
Are there some repo shared?Thank you.
@fvantienen
Gautier Hattenberger
@gautierhattenberger
@audaxes you are probably missing the module <module name="nav" type="survey_rectangle_rotorcraft"> in your airframe to make the survey rotorcraft compile. Eventually you can add the module directly to the flight plan.
@hughhugh Pixhawk 2.4 seems supported, not sure how good it is working: https://github.com/paparazzi/paparazzi/blob/master/conf/boards/px4fmu_2.4.makefile
Rong Xu
@JaneCX
Hey guys! Have any of you ever experienced the drone going into safe mode as soon as you try to control it?
Gautier Hattenberger
@gautierhattenberger
@JaneCX can you be a bit more specific about which mode you were using, your configuration, the version of Paparazzi you are using ...
Stephen Hulme
@audaxes
@gautierhattenberger Thank you for pointing out my stupendously naive error, even after I copied the aircraft.xml files with the correct modules included from my old ubuntu 14.04 repo.
kenstobb
@kenstobb
Hi, Is there any support for Quadinplane aircraft?
Stéphane Davy
@SwissNewSpace_twitter
Hello, anyone recently tried to setup paparazzi 5.14 using Ubuntu 16.04 LTS (Windows emulator)? when I run the (long) "Quickstart for Ubuntu users" online command, it doesn't run the GUI app at the end (see traces) . I have the universe component enabled. When I run make, it runs but the ./paparazzi leads to a Gtk.error exception (nml_gtk_init failed). Could you please help me? @LAPTOP-SU18TUN9:~$ sudo add-apt-repository -y ppa:paparazzi-uav/ppa && sudo add-apt-repository -y ppa:team-gcc-arm-embedded/ppa && sudo apt-get update && sudo apt-get -f -y install paparazzi-dev paparazzi-jsbsim gcc-arm-embedded && cd ~ && git clone --origin upstream https://github.com/paparazzi/paparazzi.git && cd ~/paparazzi && git remote update -p && git checkout -b v5.14 upstream/v5.14 && sudo cp conf/system/udev/rules/*.rules /etc/udev/rules.d/ && sudo udevadm control --reload-rules && make && ./paparazzi
gpg: keyring /tmp/tmpx8fk6h6h/secring.gpg' created gpg: keyring/tmp/tmpx8fk6h6h/pubring.gpg' created
gpg: requesting key 02599182 from hkp server keyserver.ubuntu.com
gpg: /tmp/tmpx8fk6h6h/trustdb.gpg: trustdb created
gpg: key 02599182: public key "Launchpad PPA for Paparazzi UAV autopilot team" imported
gpg: Total number processed: 1
gpg: imported: 1 (RSA: 1)
OK
gpg: keyring /tmp/tmp2zbb1psm/secring.gpg' created gpg: keyring/tmp/tmp2zbb1psm/pubring.gpg' created
gpg: requesting key F64D33B0 from hkp server keyserver.ubuntu.com
gpg: /tmp/tmp2zbb1psm/trustdb.gpg: trustdb created
gpg: key F64D33B0: public key "Launchpad PPA for GCC ARM Embedded Maintainers" imported
gpg: no ultimately trusted keys found
gpg: Total number processed: 1
gpg: imported: 1 (RSA: 1)
OK
Get:1 http://security.ubuntu.com/ubuntu xenial-security InRelease [109 kB]
Hit:2 http://archive.ubuntu.com/ubuntu xenial InRelease
Get:3 http://archive.ubuntu.com/ubuntu xenial-updates InRelease [109 kB]
Hit:4 http://ppa.launchpad.net/paparazzi-uav/ppa/ubuntu xenial InRelease
Hit:5 http://ppa.launchpad.net/team-gcc-arm-embedded/ppa/ubuntu xenial InRelease
Get:6 http://archive.ubuntu.com/ubuntu xenial-backports InRelease [107 kB]
Fetched 325 kB in 4s (76.9 kB/s)
Reading package lists... Done
Reading package lists... Done
Building dependency tree
Reading state information... Done
paparazzi-dev is already the newest version (3.24).
paparazzi-jsbsim is already the newest version (1.5-4).
gcc-arm-embedded is already the newest version (7-2018q2-1~xenial1).
0 upgraded, 0 newly installed, 0 to remove and 54 not upgraded.
Cloning into 'paparazzi'...
remote: Enumerating objects: 2, done.
remote: Counting objects: 100% (2/2), done.
remote: Compressing objects: 100% (2/2), done.
remote: Total 170069 (delta 0), reused 2 (delta 0), pack-reused 170067
Receiving objects: 100% (170069/170069), 73.97 MiB | 3.15 MiB/s, done.
Resolving deltas: 100% (135455/135455), done.
Checking connectivity... done.
Checking out files: 100% (4551/4551), done.
Fetching upstream
Branch v5.14 set up to track remote branch v5.14 from upstream.
Switched to a new branch 'v5.14'
I wouldn't be supposed to run make, I know.
Stéphane Davy
@SwissNewSpace_twitter
Hello again, no worries. I kind of have forgotten that that Ubuntu is a terminal only. I'm now using VM Virtual Box and it works fine.
Gautier Hattenberger
@gautierhattenberger
@SwissNewSpace_twitter you're trying to run paparazzi on Windows, right ? The Ubuntu for Windows doesn't have the XServer part for rendering frames, but this can be installed as a separated software.
Virtual box is perfectly fine too...
@kenstobb what do you mean by quadinplane ? Transitioning vehicles ?
kenstobb
@kenstobb
@gautierhattenberger Yes. Specifically I mean this file: "conf/airframes/tudelft/aa_quadplane.xml" but I can not find anything about the transition! Actually I'm looking for a ready basic model to work on, is there anything?
Gautier Hattenberger
@gautierhattenberger
@kenstobb In this airframe, their is a 3-way switch apparently to go from pure rotorcraft, rotorcraft+forward motor, forward motor only. I don't see anything special in the rest of the code specific to transition. It seems to be a customized aircraft that doesn't need to tilt to switch to go to forward mode. The airframes that are flying with controlled transition are using very specific code that is not merge into master at the moment.
The way to handle transition highly depends on your configuration (no-tilt, tilt wing, tilt body,...)
Shaofeng757
@Shaofeng757
Hello guys! I am a newcomer to paparazzi. I don't know how to use the lisa M v2.0 automatic pilot to perform hardware-in-the-loop simulation. What other devices are needed?
Michal Podhradsky
@podhrmic
Shaofeng757
@Shaofeng757
Thank you!
Nilay Sheth
@nilay994
Hello! Would anyone know how I can copy files from a host computer to parrot bebop's directories? Can I do it via telnet?
Nilay Sheth
@nilay994
worked by using the nc command
Gautier Hattenberger
@gautierhattenberger
@nilay994 you can eventually use this tool to download/upload files to the bebop: https://github.com/paparazzi/paparazzi/blob/master/sw/tools/parrot/bebop.py
latebecomer
@latebecomer
Hello! Can anyone help me to know the sensor value of MPU 6050 such as 3-axes gyro rate and 3-axes acceleration?
Gautier Hattenberger
@gautierhattenberger
@latebecomer the code of the drivers for peripherals are located here: https://github.com/paparazzi/paparazzi/tree/master/sw/airborne/peripherals
What kind of autopilot board are you using ?
Stéphane Davy
@SwissNewSpace_twitter
@gautierhattenberger thanks
latebecomer
@latebecomer
@gautierhattenberger I am using Bebop 2 drone which has a board called Parrot P7 SoC(dual Cortex A9).
Gautier Hattenberger
@gautierhattenberger
@latebecomer here is a working example of airframe file for bebop2: https://github.com/paparazzi/paparazzi/blob/master/conf/airframes/examples/bebop2_indi.xml
you can see line 22 that it is loading the imu module for this model which config file is: https://github.com/paparazzi/paparazzi/blob/master/conf/modules/imu_bebop.xml
the last part is pointing to the actual source files use to get the imu data over I2C.
Once you are running the code onboard, you can change the telemetry mode to get the the RAW imu data
latebecomer
@latebecomer
I really appreciate your guide..!! I will try it
faresa2
@faresa2
Hello all. I was trying to make sense of the gyroscope raw readings in hover. Since roll and pitch are zero (or extremely close to it), one can assume that the rate of change of yaw is approximately the same as the Gyroscope reading Gz. Upon integrating Gz over a very short period of time (<2 seconds), I obtain a yaw attitude that is way less than the actual yaw. I'm assuming Gz has units of deg/secs. You're insight on this is greatly appreciated
Gautier Hattenberger
@gautierhattenberger
@faresa2 where do you get these raw values ?
can you provide some numbers from your reading to see if your units are correct ?