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  • Aug 07 16:37
    OpenUAS commented on 2ae834f
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    EwoudSmeur commented #2563
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Felix Ruess
@flixr
if you are running your program on a host in the ground network, then the easiest is to publish that message on the Ivy bus: https://wiki.paparazziuav.org/wiki/Ivy
you can e.g. do that easily from a python script using https://github.com/paparazzi/pprzlink/blob/master/lib/v1.0/python/ivy_msg_interface.py
what kind of data do you want to send?
Shubham Vyas
@kill2win
I would like to recieve the video stream to opencv, make decisions and send those back (in the form of an array)
Felix Ruess
@flixr
ah, so we are talking about a Parrot drone?
video you can receive via RTP, the command you send up would be via the normal PPRZ protocol
depending on what exactly you want to send you either have to create your own message or use one of the existing ones
see http://docs.paparazziuav.org/latest/paparazzi_messages.html#DATALINK_CLASS
there is e.g. the possibility to issue high level commands like goto position, move at velocity, etc...
or more low level attitude commands
Shubham Vyas
@kill2win
I can recieve the video. And I'd like to send high level commands. (Go to)
Felix Ruess
@flixr
you could put the quadrotor in guided mode and send GUIDED_SETPOINT_NED messages, see
https://github.com/paparazzi/paparazzi/blob/master/sw/ground_segment/python/guided_mode_example.py
adamczer
@adamczer
Hello all, I am currently trying to compile the paparazzi source code into a shared library, but am having difficulty in making this work. Does anyone here have experience in doing this or could provide guidance on where the appropriate arguments could be added to the build? I tried multiple places as early in the build however could not get it to create the shared library.
Felix Ruess
@flixr
hi @adamczer shared lib of what exactly?
adamczer
@adamczer
@flixr, I am trying to make the airborne and simulation a shared library. The reason for this is to eventually port the paparazzi functionality to java. My desire is to call things over jni and eventually move the airborne modules over to java, and continue to use JSBsim through jni for simulation purposes.
Felix Ruess
@flixr
hm... the simulation is not meant to be compiled into a shared lib (as it contains a main)
maybe something like
$(OBJDIR)/simsitl.so : $($(TARGET).objs)
    $(Q)$(CXX) $(CXXFLAGS) -shared -o $@ $($(TARGET).objs) $(LDFLAGS)
not sure though if it really makes sense to compile all that into one lib
adamczer
@adamczer
correct, by simulation I meant the calls from paparazzi to the JSBSim, I would have to alter the run to functionality of the ui to call the newly created jar. Thanks for the advice I will try that make file.
Shubham Vyas
@kill2win
@flixr thank you. Will try that
Felix Ruess
@flixr
@adamczer you would probably need to #ifdef out the main in https://github.com/paparazzi/paparazzi/blob/master/sw/simulator/nps/nps_main.c#L92 and set the options yourself and then periodically call nps_main_periodic
I have to admit that I don't quite understand the reason for calling this from java though...
but then I'm not familiar with Java/C integration at all...
adamczer
@adamczer
The nps main init/ execution cycle would be replaced by a Java execution. All the calls that exist from this point of entry could then be called directly allowing for testing of framework prior to completing a full Java implementation. Its basically so I can swap out one component at a time and make sure I did not mess up something while porting. Does that make more sense?
Felix Ruess
@flixr
the approach does make more sense now, yes :-)
still wondering why you want to port it to java though... but maybe that's just because I'm biased against java ;-)
adamczer
@adamczer
Thanks again for the help
Felix Ruess
@flixr
no problem, hope that something like that works out
Joseph
@yoosofpiran
hi I am new to the paparazzi I was following installing instruction
all things is ok but in last step when i want to creat shortcut
after double clicking it say unable to execute
whats the prop?
Yoki Toki
@tokiyoki
Hey guys. I have some sort of stupid question. That it is. I have stm32f3discovery. Can I program paparazzi to the that board?
Gautier Hattenberger
@gautierhattenberger
@yoosofpiran did you try to start the paparazzi center from the terminal ? are you using gnome or KDE as desktop ?
@tokiyoki it should be possible although it is not really documented.
relevant configuration files are: https://github.com/paparazzi/paparazzi/blob/master/conf/boards/stm32f4_discovery.makefile and https://github.com/paparazzi/paparazzi/blob/master/sw/airborne/boards/stm32f4_discovery.h
you just need to change the board type for stm32f4_discovery in the ap target of you airframe file.
Piotr Esden-Tempski
@esden
He means stm32f3 that has an imitation chip on it
There was some effort to port paparazzi to that a long time ago but it was not finalized
As libopencm3 has support for the f3 by now the port should be quite streight forward if you know how to do embedded programming :)
Gautier Hattenberger
@gautierhattenberger
true, sorry, I misread it
Piotr Esden-Tempski
@esden
With imitation I meant IMU
Autocorrect hits once again:)
Petter
@Petterhg
Hello,
I am using the Optitrack system at TU Delft and have some problems with flying at higher altitudes. To be more precise, when I'm flying the Bebop between 2.5-3 meters fix alt. the altitude can vary ALOT when going from one waypoint to another and the drone can also completely deviate from the flight plan and start accelerating into the net (both on the sides and in the roof). At lower altitudes 1-2 m everything is working fine. Does anyone have any idea what can cause this?
Bart Slinger
@bartslinger
Optitrack is not a perfect system. If you fly higher, the drone is seen by less cameras which may result in difficulty with tracking. The best option you have is probably to recalibrate the arena before flying.
Yannick Jestin
@yannickj
we’re in the process of building a Flying Arena in ENAC, (est: july 2017) with optitrack or a similar kind of system. Hopefully, we’ll end up contributing to the tracking code.
Petter
@Petterhg
Okay, so you don't think there is anything in the flightplan/airframe that can cause this behaviour? And there's also no way (except calibration) to amend or decrease the amplitude of the problem?
Dan Berry
@dgberry1
When creating new messages, is there a particular section to create them in? Which message.XML file? I found 2 different ones in the PaparazziUAV install. Then, do I need to rebuild paparazzi after creating them?
Felix Ruess
@flixr
@dgberry1 message definitions are in the pprzlink repo: https://github.com/paparazzi/pprzlink/blob/master/message_definitions/v1.0/messages.xml
in paparazzi this is added in sw/ext/pprzlink/message_definitions/v1.0/messages.xml and copied to var/messages.xml on make
and yes, you need to call the toplevel make after changing messages
if you put a messages.xml file in conf/, that will be used instead...
Dan Berry
@dgberry1
@flixr OK thanks
Dan Berry
@dgberry1
Is there a particular section in the messages.XML I want to use? I was going to use ground messages section. Do I just pich a free message number? Just to make sure.
Felix Ruess
@flixr
that depends what kind of message you want to add...
if you want to send something from the aircraft to the ground, add it to "telemetry", for sending to the aircraft to "datalink" and if it's only a message between ground agents - well - to "ground"