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TRABAJO FINAL DE CARRERA

1. lt section name BAT gt lt define name MILLIAMP PER PERCENT value 0 86 gt lt define name CATASTROPHIC BAT LEVEL value 9 3 unit V gt lt define name BATTERY_SENS value 0 48 integer 16 gt lt section gt lt section name AUTOPILOT gt lt define name MODE MANUAL value AP MODE ATTITUDE DIRECT gt lt define name MODE AUTO1 value AP MODE ATTITUDE Z HOLD gt lt define name MODE_AUTO2 value AP MODE NAV gt lt section gt lt section name FMS gt lt section gt lt section name MISC gt lt define name FACE REINJ 1 value 1024 gt lt section gt lt section name SIMULATOR prefix NPS gt lt define name ACTUATOR NAMES value amp guot front motor amp guot amp quot back motor amp quot amp quot right motor amp guot amp quot left_motor amp quot gt lt define name INITIAL CONDITITONS value amp quot reset00 amp guot gt lt define name SENSORS PARAMS value amp guot nps sensors params booz2 al h amp guot gt lt section gt lt firmware name rotorcraft gt lt target name ap board booz_1 0 gt Page 3 of 4 File home ubuntu paparazzi conf airframes Poine booz2_al xml lt target name sim board pc gt lt subsystem name fdm lt target gt lt subsystem lt subsystem lt subsystem lt subsystem lt subsystem lt subsystem lt subsystem lt subsystem lt firmware gt name radio control name telemetry n
2. lt aircraft name Twinjet ac_id 6 airframe airframes twinjet_example xml radio radios cockpitMM xml telemetry telemetry default xml flight_plan flight_plans versatile xml settings settings tuning xml settings infrared xml gui_color ba6293 gt lt aircraft name UPC ac_id 1 airframe airframes UPC xml radio radios FUT7C xml telemetry telemetry telemetry booz2 xml flight plans flight plans EETAC xml settings settings settings booz2 xml gui_color blue f gt lt conf gt File home ubuntu paparazzi conf control_panel xml Page 1 of 4 lt Control Panel xml gt lt Here are the settings for all the sessions and the available running agents gt lt xml version 1 0 gt lt control panel name paparazzi control panel gt lt section name variables gt lt variable name downlink_serial_port value dev ttyUSB0 gt lt variable name fbw serial port value dev ttyS1 gt lt variable name ap serial port value dev ttyS0 gt lt variable name ivy bus value 127 2010 gt lt variable name map value muret_UTM xml gt lt variable name flight_ plan value flight plans EETAC xml gt lt section gt lt section name programs gt lt program name Server command sw ground segment tmtc server gt lt arg flag b variable ivy bus gt lt program gt lt program name Simulator Booz command var B00Z2 Al sim simsitl gt lt program
3. lt channel ctl right_stick_vert function PITCH min 1112 neutral 1518 max 1937 av l lt channel ctl left_stick_vert fun n THROTTLE min 1940 neutral 1940 max 1115 0 gt lt channel ctl left_stick_horiz function YAW min 1940 neutral 1520 max 1115 average 0 lt channel ctl switch_E function MODE min 966 neutral 1526 max 2079 average 10 gt lt radio gt Figure 5 58 Radio XML for MeekPE Encoder Board See that we located the switch_E on the 5 channel leaving the throttle on the 3 channel Another important consideration is the pulse type Our RC is a Futaba so we must write positive here If another RC is purchased it may be necessary to 54 Setup and Integration of a guadrotor used as a research demonstrator change the pulse type to negative The channel ranges are left at default values If you use the ATMEGA328 Encoder we have to add three empty channels that will not be used lt DOCTYPE radio SYSTEM radio dtd gt lt radio name T7chp data min 900 data max 2100 sync min 5000 sync max 15000 pulse type POSITIVE gt lt channel ctl right stick horiz function ROLL min 1939 neutral 1525 max 1114 average 0 gt lt channel ctl right stick vert function PITCH min 1112 neutral 1518 max 1937 average 0 gt lt channel ctl left stick vert function THROTTLE min 1940 neutral 1940 max 1115 average 0 gt lt channel ctl lef
4. Figure 3 8 IMU board with Pins information The purpose of each pin is as follows GND Ground Pin not used 22 Setup and Integration of a guadrotor used as a research demonstrator GND Ground 6V5 Pin that supplies with 6 5 V the IMU MOSI Master Output Slave Input output pin from master MISO Master Input Slave Output output pin from slave SCK Serial Clock ADC CS Analogical to Digital Converter Chip Select MAG CS Magnetometer Chip Select ADC_EOC Analogical to Digital Converter End of Conversion MAG DRDY Magnetometer Data Ready MAG_RESET Magnetometer Reset EEPROM_CS Electrically Erasable Programmable Read Only Memory Pin not used N GND GND GND 6V5 6V5 MOSI MOSL 1 MISO MISO 1 SCK SCK 1 ADC_CS SSEL 1 MAG_CS SSEL 2 ADC EOC DRDY 1 MAG DRDY DRDY 2 Chapter 3 Integration 23 MAG_RESET MAG_RESET EEPROM CS Table 3 4 Pins between the Main Board and the IMU The wires must be soldered as shown in Table 3 4 3 3 Main Board Power Supply Both boards will be connected by a wire soldered onto the Power Supply and plugged into the Main Board In the Figure 3 10 the place where the wire is to be soldered on the Power Supply Board is circled Figure 3 10 Inferior side of the Power Supply The wire will be plugged into the connection circled in red in Figure 3 11 Figure 3 11 Power Supply connection
5. If so click on the Execute button and the GCS window should show up with the position of the airframe and the flight plan near the EETAC faculty Then if you go to the Paparazzi Center you should see the running agents Datalink Server and GCS On the Main Board should be 4 LEDs blinking for a proper AP flight The green is the RC The red is supply The first orange LED following this order is Telemetry The last LED is the GPS They are not always blinking For instance if we are indoors the GPS LED will be off Or if the RC is switched off the LED also will be off Then it is time to start enjoying the flight 60 Setup and Integration of a guadrotor used as a research demonstrator CHAPTER 6 CONCLUSIONS AND FUTURE LINES The goal of this project was to build a guadrotor that would be used as a research demonstrator Therefore the goal has been successfully completed As usually happens in big projects a lot of problems and doubts arose throughout the realization of this project and these problems allowed me to learn a lot about different areas such as Ubuntu OS xml code how a Main Board or an encoder board works or how the boards interact with each other On the one hand all the hardware integration has been done successfully dealing with difficult problems such as the encoder problem that can be completely solved and others that could only be mitigated due to our budget limitations such as the Magnetometer error
6. amp libgsl ruby 1 10 3 3 Ruby bindings for the GNU Scientific Library G Cross Platform Is libocamigsl ocaml dev 0 6 0 6build1 GNU scientific library for OCaml Cross Platform multiverse libocamlgsl ocaml 0 6 0 6build1 GNU scientific library for OCaml Cross Platform universe 16 lt A Status GNU Scientific Library GSL library package Origin Eg The GNU Scientific Library GSL is a collection of routines for Custom Filters numerical analysis The routines are written from scratch by the GSL Search Results team in C and pr sent a modern API for C programmers while allowing B packaaes listed 1503 installed 0 broken 1 to install unarade 0 to remove 4993 kB will be used Figure 4 36 Downloading the GSL Package Once complete a message appears informing us that the download has been successful Now you should be able to compile the files without any problems and correctly carry out the simulation using the files detailed in chapter XML Settings for Simulation The Paparazzi folder will be located in the Home Folder 4 3 Launcher It may be more comfortable for the user if a launcher is installed on the desktop To set it first it is necessary to download this pic http paparazzi enac fr wiki_images Paparazzi_logo png Then you make a right click on the desktop and select Create Launcher The user has to set the features as showed in Figure 4 37 Bear in mind that where it says Command this is t
7. lt section gt lt section name AUTOPILOT gt lt define name MODE MANUAL value AP MODE ATTITUDE DIRECT gt lt define name MODE AUTO1 value AP_ MODE ATTITUDE Z HOLD gt lt define name MODE AUTO2 value AP MODE KILL gt lt section gt lt section name FMS gt lt define name BO0Z FMS TIMEOUT value 0 gt lt section gt lt section name CAM prefix B00Z CAM gt lt define name 0N value LED ON CAM SWITCH LED gt lt define name 0FF value LED OFF CAM SWITCH LED gt lt define name TILT NEUTRAL value 1500 gt lt define name TILT MAX value 1000 gt lt define name TILT MIN value 2300 gt lt define name TILT ANGLE MIN value RadOfDeg 90 unit rad gt lt define name TILT ANGLE MAX value Rad0fDeg 10 unit rad gt lt define name PAN NEUTRAL value 0 gt lt define name PAN MIN value 0 gt lt define name PAN MAX value 25736 gt lt 360 deg 2 12 gt lt define name SetPwm _v value BoozSetPwmlValue _v gt lt section gt ou wb te HEH HOH HEH il lt section name DROP gt lt define name DROP SERVO CLOSED value 2120 gt lt define name DROP SERVO OPEN value 1060 gt lt define name BoozDropPwm v value BoozSetPwm0OValue v gt lt section gt lt section name MISC gt lt define name B00Z ANALOG BARO THRESHOLD value 800 gt lt define name FACE REINJ 1 value 1024 gt lt define name DEFAU
8. The 8 wires from the controllers are soldered as shown in Figure 3 19 Figure 3 19 It shows where to solder the wires on the Power Supply Remember that the supply and the GND wires are soldered on different sides of the PS The yellow arrows indicate the GND wires but on the other side the supply wires for the controllers must be also soldered 3 7 Controller Engine In this paragraph a brief description of the integration between the controller and the engines will be explained There are 3 wires to connect the controller with the engine To connect them it is necessary to solder the 3 wires of the engine to the three wires of the controller see Figure 3 20 but before doing this we must prepare the heat shrink tub and leave them with the wire inside in order to heat them later The connection should be similar to what is shown below mm Figure 3 20 Connection between the Controllers and the Engines Chapter 3 Integration 29 The wires are included when you purchase the engine and the controllers The soldering order of the wires is not important Note The XBDL Controllers are specially designed to work with the X BL 52s engines so if the engines are changed the behaviour of the engine must be tested 3 8 Encoder Receiver As explained before our intention was to use the encoder ATMEGA328 provided by PPZUAV but due to various problems in the end we used the MeekPE encoder provided by Paparazzi develop
9. constant constant constant constant constant constant constant constant telemetry telemetry telemetry telemetry telemetry telemetry telemetry telemetry telemetry AHRS AHRS AHRS AHRS AHRS AHRS AHRS AHRS AHRS covariances gt Page 4 of 4 EULER COV p phi phi gt EULER COV p phi bp gt EULER COV p bp bp gt EULER COV p theta_theta gt EULER COV p theta bg gt EULER COV p bq bq gt EULER COV p psi psi gt EULER COV p psi br gt EULER COV p br br gt File home ubuntu paparazzi conf radios cockpitSX xml Pagelofl lt Radio xml for Simulation gt lt xml version 1 0 gt lt DOCTYPE radio SYSTEM radio dtd gt lt radio name cockpitSX easy data_min 900 data max 2100 sync min 5000 sync max 15000 pulse type POSITIVE gt lt channel ctl D function ROLL max 2050 neutral 1500 min 950 average 0 gt lt channel ctl C function PITCH min 2050 neutral 1500 max 950 average 0 gt lt channel ctl B function YAW min 2050 neutral 1500 max 950 average 0 gt lt channel ctl A function THROTTLE min 1223 neutral 1223 max 2050 average 0 gt lt channel ctl G function UNUSED min 2050 neutral 1500 max 950 average 1 gt lt channel ctl E function GAIN1 min 2050 neutral 1496 max 948 average 1 gt lt channel ctl PHAUX2
10. CHAPTER 4 SOFTWARE CONFIGURATION ee ees ee se eek ee see ke eek ee ee 33 ENE d EE 33 41 JUSB BO0l ueu Gu Gu GE GE RE GEES EG hoi WE Ge Ge ee GR Ge GE De bi 35 4 2 Paparazzi SOU idas 36 EN ET ie OE N EE in EE OO E E E N EE Ee 41 4 4 XML Settings for Simulation e esse ese ee RR KRAKE ER AAR KRAAK KAR KERE EE AAR KRAG nnmnnn nnmnnn 42 4 4 1 age TEE 42 4 4 2 Flight Plannu geu ng wyw A F EW EE UD 43 4 4 3 A du Y ae 43 4 4 4 Cont xm uu eu gadd Cy od RE OR AN DIY GT 44 4 4 5 Control panel XMI isie RE ee ieee aiid a aia aN aia 45 4 5 XML Settings for AP flight cccsccceeeeeeeeeseeeeeseeeeeeeseeeseseeeeesseaaeseneeeesesneeeeessnaesenees 45 4 5 1 AIT MM cence AE tect hate Pan ES Re EE GEE GR H P ae 45 4 5 2 PIG Pla Mas e EE Y EFE YRR RW RR A HYR HN AP 53 4 5 3 Radiosdnl RE eege RE Oe ee EE y a 53 4 5 4 Cont di EENE AE HR FR EE RA OR KA accuses 54 CHAPTER 5 PAPARAZZI CENTER INTERFACE 56 ST e TU TE EE 57 5 2 TT e EE 57 5 3 EXeCUt OD AE EE EE ER N EE ee 58 5 4 el E RE AE ee E T E ee oe E nee isc n Ge Ve De EE NY daU Yd ei 58 5 5 Step by Step process for simulating users KERE AAR KRAKE KERE Re AAR KRAG ee carne 58 5 6 Step by Step process for AP flight esse see KERE RE AR KRAKE KERE EE AAR KRAG nar 58 CHAPTER 6 CONCLUSIONS AND FUTURE LINES 60 REFERENCES iii di aa 61 ANEXO Si A FFA ee HE la 63 ANEXA PLANNING aia Seege 65
11. Prioritize Mitigation Command To review in detail all Mitigate Functions that the guadrotor must satisfy see the next diagram Annex A 67 4 Mitigate 4 1 Avoid collisions 4 2 Avoid adverse environmental conditions 4 3 Manage contingencies 4 3 1 Convey system status 4 3 2 Determine contingency command 4 3 3 Produce mitigation command 4 3 4 Prioritize mitigation command 4 3 5 Convey status of commands Figure Anex 3 Mitigate Diagram On the other hand in the Safety Process there are also some phases to be satisfied before starting the development of the guadrotor The Functional Hazard Assessment also known as Functional Hazard Analysis is one of the most important phases in the Safety Process In the FHA phase there are two documents In one of them all the phases present in the Aircraft Level Functions are classified according to their criticality Located in the other document are the systems which are classified according to their criticality Another important step in the Safety Process are the documents which analyze the problems that may appear in the guadrotor either the particular problems PRA the common causes CCA or the problems due to the architecture ZSA 68 Setup and Integration of a guadrotor used as a research demonstrator ANEX B ARCHITECTURE B 1 UAV The UAV is the system which proceeds with the flight It gets some data from the communication subsystem and
12. kill_throttle 42 Resurrect Kill wa autopilot powe 42 OFF ON wh a autopilot rce 42 RC OFF RCON A Figure 4 46 GCS settings for raw data Once the green tick has been clicked the 42 located to the right of telemetry in Figure 4 46 should change to Raw If not you have not correctly set the GCS to get the raw data If you start receiving the raw data go to the Paparazzi Center There click on Tools and click the Real Time Plotter a window will appear and then again click on Tools and now select Messages The plotter will display the data that we want to check or control The Messages window will display the subsystems values We will be able to select the data that we want to check At this step the screen should be similar to that shown in Figure 4 47 43 Applications Places System Y E 264 F Sat Nov 12 11 36 ubuntu jz AD y gt 2 o 2 Messages DL_VALUE DOWNLINK STATUS B GPS INT e IMU ACCEL RAW PE N IMU GYRO RAW Er wa IMU_MAG RAW 1 INS INS_REF PONG ROTORCRAFT_FP ROTORCRAFT NAV STATUS ROTORCRAFT STATUS NN SVINFO J WP_MOVED_ENU f Auto Scale Min mode 1m 1m om auto2 9 ee E RCON RC OFF kill_throttle Paparazzi Center Messages Figure 4 47 Paparazzi Center with Plotter and Messages windows selected Chapter 4 Software Configuration 49 The Real Time Plotter does not display the values by default because we have to first sele
13. lt subsystem name actuators type asctec_v2 gt lt subsystem name imu type b2 v1 1 gt lt subsystem name gps type ublox gt lt subsystem name stabilization type euler gt lt subsystem name ahrs type int_cmpl_euler gt lt subsystem name ins type hff gt lt firmware gt lt firmware name booz2 test_progs gt lt target name test_telemetry board booz_1 0 gt lt target name test_baro board booz_1 0 gt lt target name test_rc_spektrum board booz 1 0 gt lt target name test_rc_ppm board booz_1 0 gt lt target name test_micromag board booz_1 0 gt lt firmware gt lt servos min 0 neutral 0 max 0xff gt lt servo name FRONT no 0 min 0 neutral 0 max 255 gt lt servo name BACK no 1 min 0 neutral 0 max 255 gt lt servo name LEFT no 2 min 0 neutral 0 max 255 gt lt servo name RIGHT no 3 min 0 neutral 0 max 255 gt lt servos gt lt commands gt lt axis name PITCH failsafe_value 0 gt lt axis name ROLL failsafe_value 0 gt lt axis name YAW failsafe_value 0 gt lt axis name THRUST failsafe_value 0 gt lt commands gt lt section name SUPERVISION prefix SUPERVISION gt lt define name MIN MOTOR value 2 gt lt define name MAX MOTOR value 200 gt lt define name TRIM A value 0 gt lt define name TRIM EI value 0 gt lt define name TRIM R value 0 gt File home ub
14. ucid so where it says natty it is necessary to write ucid in small letters Then we click OK and the window disappears Then click Close When Linux detects that the APT line has been changed it will inform us about it with a new window The window will tell us that in order to update the code it is necessary to click the Reload button located on the left hand side of the Synaptic Package Manager screen So click the Reload button and it will start updating the data When the reload has been successfully completed we have to click the button with the magnifying glass the guick search sometimes gives problems In Figure 4 31 you can see how the screen should look like at this step Ouick search c a a Reload Mark All Upgrades R Propertie Search Amateur Radio universe OD 0 5 3 perl script to cor Base System universe O jaa 3 3 7p7 1build2 Common files fo Communication O Search paparazzi 0 8 1 16 3D chess for X11 Communication multiverse O 498 Lookin 1 0 3 Packet Capture e Communication universe DO Gtul 0 11rc2 2 TCP proxy for no Cross Platform O 9ba aa cae 1 4 1 Plan 9 userland t Cross Platform multiverse 9me WT YW EE N 1 8 2 Creates X menus P Y y O 9mount 1 3 7 plan9 filesystem DO 9mount dbg 1 3 7 plan9 filesystem ES O 9wm 1 2 9 emulation of the y Status ig aoa No package is selected Origin Custom Filters Search Results 30548 packages listed 1508 installed 0 broken 0 to i
15. value Rad0fDeg 500 gt lt define name REF ZETA RI value 0 85 gt lt define name REF MAX R value Rad0fDeg 90 gt lt define name REF MAX RDOT value Rad0fDeg 900 gt lt feedback gt lt define name PHI PGAIN value 2000 gt lt define name PHI DGAIN value 400 gt lt define name PHI IGAIN value 200 gt lt define name THETA PGAIN value 2000 gt lt define name THETA DGAIN value 400 gt lt define name THETA IGAIN value 200 gt lt I changed the PSI PGain from 2000 to 0 due to MAG error gt lt I changed the PSI DGain from 400 to due to MAG error gt lt I changed the PSI IGain from 10 to 0 due to MAG error gt lt define name PSI PGAIN value 0 gt lt define name PSI DGAIN value 0 gt lt define name PSI IGAIN value 0 gt lt feedforward gt lt I changed the PSI DDGain from 300 to 0 due to MAG error gt lt define name PHI DDGAIN values 300 gt lt define name THETA DDGAIN value 300 gt lt define name PSI DDGAIN value 0 gt lt section gt lt section name INS prefix INS gt lt define name BARO SENS value 15 integer 16 gt lt define name UNTILT ACCEL value 1 gt lt define name SONAR SENS value 2 146 integer 16 gt lt section gt lt section name GUIDANCE V prefix GUIDANCE V_ gt lt define name MIN ERR Z value POS BFP OF REAL 10 gt lt define n
16. 1 984611 lt longitude gt lt altitude is above ground level AGL gt lt lt altitude unit M gt 0 11 lt altitude gt gt lt altitudeMSL is above sea level ASL gt lt altitudeMSL unit M gt 2 5 lt altitudeMSL gt lt lt altitude unit M gt 95 lt altitude gt gt lt winddir unit DEG gt 0 0 lt winddir gt lt vwind unit FT SEC gt 0 0 lt vwind gt lt initialize gt Pagelofl File home ubuntu paparazzi conf conf xml Page 1 of 2 lt Conf xml gt lt Here you can see the files associated with the simulation B00Z2 A1 and with AP flight UPC gt lt conf gt lt aircraft name B00Z2_ A1 ac id 150 airframe airframes Poine booz2_al xml radio radios cockpitSX xml telemetry telemetry telemetry booz2 xml flight plans flight plans EETAC xml settings settings settings booz2 xml settings settings booz2 ahrs_cmpl xml gui color white gt lt aircraft name B00Z2 A7 ac id 159 airframe airframes Poine booz2_a7 xml radio radios cockpitSX xml telemetry telemetry telemetry booz2 xml flight plans flight plans dummy xml settings settings settings booz2 xml gui_color white gt lt aircraft name B00Z2_A8 ac_id 160 airframe airframes Poine booz2_a8 xml radio radios cockpitSX xml telemetry telemetry telemetry test passthrough xml flight plans flight plans dummy xml settings settings settings test passthrough xml gui_co
17. 3ubuntul WR based eich system debug extensic p Communication multiverse ytho atplotlib 0 99 bunti Pytho sed ystem in a style simile Communication universe O python scitools 0 7 1 Python for scientific computing Cross Platform O python mpmath doc 0 13 2 library for arbitrary precision floating point ari Cross Platform multiverse 7 python mpmath 0 13 2 library for arbitrary precision floating point ari Cross Platform universe N Lem e EOS ig Status Origin Python based plotting system in a style similar to Matlab Custom Filters EE ig i Matplotlib is a pure Python plotting library designed to bring Search Results publication quality plotting to Python with a syntax familiar to 7 doe listed 1520 installed O broken 17 to TH O to remove 64 0 MB will be used E Cc e Br EI ubuntu ubu B 11 09 19 1 ky Synaptic Pac Figure 4 51 Python matplotlib library If we have the running agent Server on the Paparazzi Center there will always be a file that records the data that we have set up When we have pre selected RAW data for the IMU calibration the file automatically changed the measurements it was recording from the default to the raw accel mag and gyro data We will use this file with Python to get the correct calibration The log files created by the Server agent are always saved according to this pattern year_month_day_hour_minute_second data So in order to calibrate the accelerometer and the magnetome
18. 7 crossing first waypoint 5 When one block has been completed then the aircraft carries out the next one Only in the event that it is a stay waypoint or a stay home does it stay in this place A lot of shapes could be set in the blocks circles figures of 8 between two waypoints straight lines between two waypoints It is worthwhile visiting the Flight Plans section in the website where you can see all the different possibilities for a FP As all the Flight Plan was done from scratch the entire file is in the ANEX C recommend to enjoy the simulation editing the current FP and seeing what things can be carried out with the quadrotor in the future Note At least one waypoint must be named HOME for the failsafe procedure 4 4 3 Reset00 xml The most important thing to detail now is how we setup the coordinates for the flight There are two files where coordinates must be set up One as you have seen is on the Flight Plan xml where there are two coordinate values the longitude and the latitude which determines the central point As seen before the waypoints that are located on the map are refered to the central point not detailing their longitude and latitude 44 Setup and Integration of a guadrotor used as a research demonstrator There is also another file where we have to modify the coordinates and in fact this is more important than the coordinates of the Flight Plan This file is the reset00
19. 7 6 y 24 0 gt lt waypoint name 9 x 18 8 y 20 6 gt lt waypoint names 10 x 25 2 y 10 5 gt lt waypoints gt lt sectors gt lt sector name EETAC color red gt lt corner name _1 gt lt corner name _2 gt lt corner name _3 gt lt corner name _4 gt lt corner name _5 gt lt corner name _6 gt lt corner name _7 gt lt corner name _8 gt lt corner name _9 gt lt corner name _10 gt lt sector gt lt sectors gt lt procedure gt File home ubuntu paparazzi conf airframes UPC xml Pagelof4 lt Airframe xml for AP flight gt lt The airframe file has been named UPC We based our changes on the existing airframe booz2 gl gt lt airframe name B00Z2 G1 gt lt modules main freg 512 gt lt load names sys mon xml gt lt modules gt lt firmware name rotorcraft gt lt define name USE INS NAV INIT lt define name USE ADAPT HOVER gt lt define name NO FUCKING STARTUP DELAY gt lt target name ap board booz_1 0 gt lt define name FAILSAFE GROUND DETECT gt lt define name USE GPS ACC4R gt lt define name B00Z START DELAY value 3 gt lt target gt lt target name sim board pc gt lt subsystem name fdm type nps gt lt define name NPS NO SUPERVISION gt lt target gt lt subsystem name radio_ control type ppm gt lt subsystem name telemetry type transparent_usb gt
20. ACRONIMS Air Ground Transition Common Cause Analysis Direct Current Ecole Nationale de Aviation Civile Floppy Disk Device Flight Dynamics Model Functional Hazard Assessment Frequency Modulation Flight Plan Gigabyte Global Positioning System Ground Station Hard Disk Device Interface Control Document Inertial Measurement Unit Operational Zone Paparazzi Center Parc Mediterrani de la Tecnologia Pulse Position Modulation Particular Risk Analysis Power Supply Radio Controller Unmanned Aircraft System Unmanned Aerial Vehicle Universal Serial Bus Vertical Take off and Landing World Geodetic System 1984 Extreme Brushless Direct Current Extensible Mark up Language Zonal Safety Analysis Introduction 11 INTRODUCTION Currently the world of aeronautics is one of the most dynamic branches of engineering This is due not only to the evolution and improvement of existing aircraft but also because of the layout and development of new models The UAS Unmanned Aircraft System is an aircraft which is as indicated by the name an aircraft that can fly without a flight crew on board and belongs to this new group In order to fly this type of aircraft only the aircraft and a Ground Station where someone will be managing it and checking the systems behaviour are necessary While UAS has been in use for some years it is only in recent times that it has gained ever greater importance It is within the military world whe
21. ANEX B ARCHITECTURE ono 68 BAUL EE Md 68 B 11 Airirame ie EE EER EK coves Ia a 68 B 1 2 le 69 Bil 3 Energy ES DA RD ee EE Ge EE RR Ge ee ee 71 B 1 4 ST EE EE EE RR EE EE EE EE N Ee re 72 B 2 Ground Stati ins issr uu Mere ee ETES Ee Du DN ESE Deo EE Ou Sue Oue KERSE SS Y VEG wa Ge De EE 73 B Communications di YY iaa Re Ee EG Gee Ne Ee De Fe wee Ne ee dee WEE LU 74 BA Security SUBIC CU ON ase eiseres aa ieu nana Ee ER n ee dera EE TEE 76 ANEX C gt XML FILES oia 77 LIST OF FIGURES Figure 1 1 Vinegar and bicarbonate rocket activity ooooooocccinccccnnncinncnnnncnnnn 14 Figure 1 2 AscTec x 3D BL Airframe AAA 15 Figure 1 3 Operational Zone ss rense resse enet 17 Figure 2 4 Subsystems scheme ENEE 18 Figure 35 GPS Board Back side tirita ER GEES ERG ER LO IL DEE DEE EE eg 19 Figure 3 6 GPS Schematic front side iii ee EEN 20 Figure 3 7 Main Board with pins information ee RR ee Re Ee 21 Figure 3 8 IMU board with Pins informatiON ees ees ee ee Re Re ee 21 Figure 3 9 Main Board and pins informatiON ee ee Re RR ee 22 Figure 3 10 Inferior side of the Power Supply ees ee RR ee Re nos 23 Figure 3 11 Power Supply connection in the Main Board ss see ee 23 Figure 3 12 Image detailing where to plug the PS conmechor 0 66 24 Figure 3 13 Wires Soldering onto the Encoder AT MEGA 25 Figure 3 14 Connection Encoder MeekPE Main Board sesse ese see ee 25 Figure 3 15 Location of the RC connecto
22. B00Z2_ CMD period 05 gt lt message name PPM period 0 5 gt lt message name RC period 0 5 gt lt message name BO0Z2 RADIO CONTROL period 0 5 gt lt message name ROTORCRAFT STATUS period 1 gt lt mode gt lt mode name raw_sensors gt lt message name ROTORCRAFT STATUS period 1 2 gt lt message name DL_ VALUE period 0 5 gt lt message name ALIVE period 2 1 gt lt message name IMU ACCEL RAW period 05 gt lt message name IMU GYRO RAW period 05 gt lt message name IMU MAG RAW period 05 gt lt message name BARO_RAW period 1 gt lt mode gt lt mode name scaled sensors gt lt message name ROTORCRAFT STATUS period 1 2 gt lt message name DL_ VALUE period 0 5 gt lt message name ALIVE period 2 1 gt lt message name IMU GYRO SCALED period 075 gt lt message name IMU ACCEL SCALED period 075 gt lt message name IMU MAG SCALED period 1 gt lt mode gt lt mode name ahrs gt lt message name ROTORCRAFT_STATUS period 1 2 gt lt message name DL VALUE period 0 5 gt lt message name ALIVE period 2 1 gt lt message name B00Z2 ALIGNER period 1 gt gt lt message name FILTER period 5 gt lt message name B00Z2 AHRS OUAT period 25 gt gt lt message names BOOZ2 AHRS EULER period 1 gt lt message name BO0Z2 AHRS RMAT period 5 gt gt lt mode gt lt mo
23. Board Encoder B 4 Security Subjection In this chapter we are going to see a brief description of the security subjection Figure Anex 15 Security Subjection Scheme As shown above the safety subjection is the system that connects the GS and the UAV in a physically The anchorage and the fishing line are the 2 objects that belong to the Safety Subjection subsystem The fishing line will be tied in the lower screw located in the inferior side of the core see Figure Anex 16 lt will prevent the quadrotor from leaving the OZ The maximum distance of the fishing line is 20m Bearing in mind that the fishing line will be collected into the reel which is in the outer side of the OZ this means that from the reel to the OZ center approximately 25m will be used Figure Anex 16 Screw used to tie the fishing line The anchorage is formed by picks secured to the floor to maintain the fishing line near the ground Annex B 77 ANEX C XML FILES All the xml files used during the project will be in this Annex This will help to understand the structure and which information contains each file To maintain the xml format you see when you open them on Gedit the files where directly printed to pdf with the Gedit program This will make easier the interpretation The root of the files will appear on the top of the page so the traceability will be easier Note The Flight Plan is called EETAC and it includes another file called
24. Desktop 42 Figure 4 38 Booz2_a1 modes for SimulatiON oooocccccccccccnnncinnnnnnnnnnnnannnnno 42 Figure 4 39 Booz2 a1 settings for Simulation cccceceeeeeeeeeeeeteeeeeeeeeees 44 Figure 4 40 Program created for Simulation ccccecceeeeeeeeeeeeeeeeeeeeeeeeeeeeees 45 Figure 4 41 Session created for Simulation cccceeceeeeeeeeeeeeeeeeeeeeeteeeeeeeee 45 Figure 4 42 Fregilencydnodul6 amp lt iii uri EE is DI CG HF is 46 Figure 4 43 Subsytems code 46 Figure 4 44 Engine code details ENER 46 Figure 4 45 Supervision Gechon ENNEN Re 47 Figure 4 46 GCS settings for raw data 48 Figure 4 47 Paparazzi Center with Plotter and Messages windows selected 48 Figure 4 48 Proper Gyro Calibration of the three axes RR Ee 49 Figure 4 49 Gyro values in the xml file ENER 50 Figure 4 50 Python scipy library EE 50 Figure 4 51 Python matplotlib library ENNEN 51 Figure 562 ACCEL VAlUGS decido 52 eeler 52 Fig re 5 54 Pol BD CG AIT RG a GG Y YU 52 Figure 5 55 El E 52 Figure 5 56 Battery Settings cuisine GU Cg 53 Fiduie 5 57 AP EES 53 Figure 5 58 Radio XML for MeekPE Encoder Board 53 Figure 5 59 Radio XML for ATMEGA328 Encoder Boa 54 Figure 4 60 Aircraft created in the Conf xml ENER 54 Figure 4 61 Cont panel xml for AP EER PERE EER EE EDE REDE oe N oe N ee eae 55 Figure 4 62 Session used for AP 55 Figure 5 63 Paparazzi Center ready for Simulation es RR RR Ee 56 Figure 5 64 Paparazzi Center read
25. Maintain a minimum free space within the file in order to store changes Chapter 4 Software Configuration 35 Note The size in Step 4 will be different depending on the total size of the USB stick used in the project This process can take several minutes When it is finished the Ubuntu installation on the USB stick is ready to be booted 4 1 USB Boot One of the goals of this project is as mentioned previously to develop a simple way to fly the guadrotor in any given location For this reason how to download and install the Linux OS and the Paparazzi software onto a USB stick have been detailed previously But one more step is needed in order to boot the USB when a computer is turned on It is necessary to correctly set the BIOS up To do this the USB stick has to be plugged into the USB port before launching the laptop When the laptop begins to launch it is important to be attentive and read the messages that appear usually in the lowest part of the screen since this is where it will be stated which key must be pressed in order to enter into the BIOS It is usually F1 F2 F8 F10 or F12 but this depends on each computer On the laptop on which this project has been carried out the key is F2 It is important to press this Key repeatedly and guickly when we discover which one will launch the BIOS Once in the BIOS following the instructions the tab BOOT must be selected A list with the HDD Hard Disk Device
26. On the other hand all the software settings were successfully completed and tested Also how to interact with the Paparazzi Center was detailed So the results are excellent given time and budget limitations Nevertheless these limitations have greatly reduced the available settings and range of possibilities that could have been accomplished by a microUAV as the one developed in this project The following points summarize the future lines that guadrotor could follow e Send the IMU board to PPZUAV to fix the MAG and the ATMEGA328 e Use all the functions of the guadrotor a wireless Datalink such as a ZigBee module would greatly improve the features and possibilities of the guadrotor e A webcam on board the quadrotor would improve greatly the range of possible activities to be done e ln the future if more guadrotors are purchased could be studied how to interact them in swarm e New software settings and changes to the current files could be tested and implemented to exploit their benefits Chapter 6 Conclusions and Future Lines 61 REFERENCES 1 paparazzi enac fr online accessed April 2010 November 2011 2 A Barrientos J del Cerro P Guti rrez R San Mart n A Mart nez C Rossi Veh culos a reos no tripulados para uso civil Tecnolog a y aplicaciones Grupo de Rob tica y Cibern tica Universidad Polit cnica de Madrid 3 www eetac upc edu EETAC faculty website online accessed July 2011 4
27. Proposta de demostrador de Recerca 5 X 3D BL User s Manual English v2 1 AscTec GmbH 6 Google Maps 7 Sol licitud per la convocatoria de projectes d activitats docents Abril 2010 8 ppzuav com online accessed April 2011 October 2011 9 User Manual PPM Encoder Board ATMEGA168 version 4 2 firmware 10 www ubuntu com download ubuntu download online accessed June 2011 11 Preliminary Considerations for Classifying Hazards of Unmanned Aircraft Systems Kelly J Hayhurst Jeffrey M Maddalon Paul S Miner and George N Szatkowski Langley Research Center Hampton Virginia Michael L Ulrey The Boeing Company Seattle Washington Michael P DeWalt Certification Services Inc East Sound Washington Cary R Spitzer AvioniCon Williamsburg Virginia Nasa TM 2007 214539 12 http electronics howstuffworks com brushless motor htm online accessed October 2011 Lk Escola d Enginyeria de Telecomunicaci i eeu Aeroespacial de Castelldefels UNIVERSITAT POLIT CNICA DE CATALUNYA ANEXOS T TULO DEL TFC Setup and Integration of a Quadrotor used for research demonstrator TITULACI N Ingenier a T cnica Aeron utica especialidad Aeronavegaci n AUTOR Kenneth Llonch Gonz lez DIRECTOR Cristina Barrado Mux CO DIRECTOR Jorge Ram rez Alc ntara FECHA 22 de Noviembre de 2011 Annex A 65 ANEX A PLANNING The goal of this project is to design and develop a guadrotor to be used for teaching purp
28. The flight plan was done from scratch and has been detailed in the chapter Flight Plan The gui_colour is the colour of the airborne that will appear in the GCS when in flight Chapter 4 Software Configuration 55 4 5 5 Control_panel xml The conf panel is the xml where all compilation files associated running agents Tools in Paparazzi Center and sessions are saved The first thing to change is the flight plan in the variable changing the default dummy xml to EETAC xml scontrol panel name paparazzi control panel gt lt section name variables gt lt variable name downlink_serial_port value dev ttyUSB0 gt lt variable name fbw_serial_port value dev ttyS1 gt lt variable name ap_serial_port value dev ttyS6 gt lt variable name 1vy bus value 127 2010 gt lt variable name map value muret_ UTM xml gt lt variable name flight_plan value flight_ plans EETAC xml gt lt section gt Figure 4 61 Conf_panel xml for AP As mentioned before the sessions can be edited and saved in this xml Remember that it is also possible to edit and save them from the Paparazzi Center In the next figure you can see that it is necessary to delete the last xml line code and edit it from ttyUSBO to ttyACMO This change makes it possible not only to obtain the telemetry through the USB but also to upload the firmware If in future an XBEE is purchased we should select the correct session and edit if neces
29. UCAV 1500 10000 approx 2 10000 Lethal LETH 300 4000 3to 4 250 0 to Decoy DEC 500 5000 4 250 gt 20000 amp Stratospheric STRATO gt 2000 230000 gt 48 ND Exo Stratospheric EXO ND gt 30000 ND ND Table Intro 1 UAV Classification Almost all the civil UAVs belong to the micro and short range group Some examples of MicroUAVs are the small aircraft and the helicopters controlled by RC Radio Controller lt is within this last group where we find the Ouadrotors which are MicroUAVs and which will be developed in this project In Table Intro 2 there is a comparison between the most well known short range UAVs 2 Airframe Helicopter Airplane Dirigible Quadrotor Hover Capability KKKK KKK Movement Speed KKKK Maneuverability KKKK Flight range K KKKK Resistance to external disturbances KKKK Stability Vertical Flight availability KKK KKKK Payload availability KKKK Flight indoors availability KKKK Maximum Altitude KKKK Table Intro 2 Short Range UAVs features Introduction 13 A Guadrotor is a VTOL Vertical Take Off Landing MicroUAV formed by 4 rotors Two rotors spin clockwise and two anticlockwise The reason for that is because each engine produces thrust and torgue but also drag is induced in the opposite direction With this conf
30. X11 Communication multiverse 4g8 1 0 3 Packet Capture z Communication universe Tal 6tunnel _ __ 0 11rc2 2 TCP proxy for no Cross Platform Cross Platform multiverse No package is selected 7 Sim E i A o Sections Status Origin Custom Filters Search Results 30503 packages listed 1508 installed O broken O to install upgrade O to remove Figure 4 29 Synaptic Package Manager Window Now the APT line has to be added Settings Repositories Software Sources Other software It is then necessary to click Add and insert the most recent APT line deb http paparazzi enac fr ubuntu natty main Then click Add source Initially it can be seen that this APT line will not work for us since it is for the most recent version of Linux 11 04 so we have to edit and adapt it to our version Select the APT line inserted by us and click on the Edit button A window like the one in Figure 4 30 should appear Chapter 4 Software Configuration 37 ad Mari Ubuntu Software Other Software Updates Authentication Statistics All http paparazzi enac fr ubuntu natty main biDesciption d mr C f Type Binay Y 30 he T A J mmunication ur URI http paparazzi enac fr ubuntu Distribution natty oe 4 Components main Comment E Figure 4 30 Details of the APT line As mentioned before the Linux version used in this project is called
31. and some students came up with two ideas that could accomplish this aim As UAVs are becoming increasingly more important ICARUS thought it could be one of the best ways in which to boost this aeronautical branch in the university Furthermore doing these activities might allow students to discover what can be done in the university and stimulate their interest in the aeronautical world The two vehicles proposed by ICARUS were UAV prototypes 4 It was believed that the helium zeppelin and the guadrotor to be developed in this project could satisfy this new goal for more technological based activities The university appraised the ideas presented and accepted the projects Thus the idea of developing a guadrotor emerged as a project which would be presented by the ICARUS research group for the EETAC so that it could be used for demonstration purposes Now that we understand how this project arose let s take a look at it in more detail The airframe used is an AscTec X 3D BL see Figure 1 2 and the Paparazzi Booz Autopilot will be used instead of the AscTec Autopilot X Base 5 The guadrotor will be flown in a restricted area called the Operational Zone OZ Therefore entry in this zone will be strictly forbidden especially during flight tests It is better to cordon off the area with a fence or a ribbon to prevent intrusion Figure 1 2 AscTec x 3D BL Airframe The quadrotor will be used as a research prototype for demo
32. each controller with the Main Board The wires came with the controller and we had to change the connectors because they were set up so as to be plugged into the AscTec Autopilot The connector we used was the same as for the Power Supply wire a Molex Picoblade consisting of 2 pins In Figure 3 25 you can see the connection with the AscTec controller and the two wires blue and black Figure 3 25 Yellow arrow shows the black and blue wires Below the connection of the wires to the Main Board is indicated by the circle as can be seen in Figure 3 26 The wires in the upper side of the Main Board are blue black from left to right and the opposite way on the lower side of the Main Board 32 Setup and Integration of a guadrotor used as a research demonstrator On the other side of the Main Board there are 2 plus connectors for the other two engines The order is the same as mentioned above in the upper side it is blue black from left to right and the opposite way on the lower side of the Main Board Figure 3 26 Location of the Controllers connection in the Main Board Chapter 4 Software Configuration 33 CHAPTER 4 SOFTWARE CONFIGURATION Now that we have seen the physical systems and how they are integrated it is now time to take a look at the software that will make it possible for the guadrotor to fly 4 1 Linux Setup In this chapter all the steps needed to get the Paparazzi Software running on any computer from s
33. function MODE min 2050 neutral 1500 max 948 average 1 gt lt radio gt File home ubuntu paparazzi conf radios FUT7C xml Pagelofl lt FUT7C xml gt lt Radio Settings for the MEEKPE Encoder Board Remember to add three empty channels if you use the ATMEGA328 Encoder gt lt DOCTYPE radio SYSTEM radio dtd gt lt radio name T7chp data min 900 data_max 2100 sync min 5000 sync_max 15000 pulse type POSITIVE gt lt channel ctl right_stick horiz function ROLL min 1939 neutral 1525 max 1114 average 0 gt lt channel ctl right_ stick vert function PITCH min 1112 neutral 1518 max 1937 average 0 gt lt channel ctl left_ stick vert function THROTTLE min 1940 neutral 1940 max 1115 average 0 gt lt channel ctl left_ stick horiz function YAW min 1940 neutral 1520 max 1115 average 0 gt lt channel ctl switch_E function MODE min 966 neutral 1526 max 2079 average 10 gt lt radio gt File home ubuntu paparazzi conf settings settings_booz2 xml Page 1 of 2 lt Settings xml gt lt File used in Simulation and AP flight gt lt DOCTYPE settings SYSTEM settings dtd gt lt settings gt lt dl_settings gt lt dl_settings NAME Misc gt lt dl_setting var telemetry mode Main DefaultChannel min 0 step 1 max 11 module telemetry shortname telemetry values Default PPM Raw Scaled AHRS Rate Attitude Vertical Horizo
34. gt GAIN R value 350 gt lt section gt lt section lt se lt define lt define lt define lt define lt re lt define lt define lt define lt define lt define lt define lt define lt define lt define lt define lt define lt define lt fe lt define lt define lt define lt define name STABILIZATION ATTITUDE prefix STABILIZATION ATTITUDE gt tpoints gt name SP MAX PHI value Rad0fDeg 45 gt name SP MAX THETA value Rad0fDeg 45 gt name SP MAX R value Rad0fDeg 90 gt names DEADBAND RI value 250 gt ference gt name REF OMEGA P value Rad0fDeg 800 gt name REF ZETA P value 0 9 gt name REF MAX P value Rad0fDeg 300 gt name REF MAX PDOT value Rad0fDeg 7000 gt name REF OMEGA Q value Rad0fDeg 800 gt name REF ZETA O value 0 9 gt name REF MAX O value Rad0fDeg 300 gt name REF MAX 0DOT value Rad0fDeg 7000 gt name REF OMEGA R value Rad0fDeg 500 gt name REF_ZETA_R value 0 9 gt name REF_MAX_R value Rad0fDeg 180 gt name REF MAX RDOT value Rad0fDeg 1800 gt edback gt name PHI PGAIN value 400 gt name PHI DGAIN value 300 gt name PHI IGAIN value 100 gt name THETA PGAIN value 400 gt File home ubuntu paparazzi conf airframes Poine booz2_al xml lt define name THETA DGAIN value 300 gt lt define name THETA IGAIN valu
35. in the Main Board 24 Setup and Integration of a guadrotor used as a research demonstrator The blue circle in Figure 3 11 shows the switch that will allow us to turn the Main Board on and off in future In Figure 3 12 the yellow circle indicates where the connector is to be plug in Figure 3 12 Image detailing where to plug the PS connector 3 4 Main Board Encoder In this ICD we will see the two different encoder boards that were used during the project and how to connect them to the Main Board 3 4 1 ATMEGA328 Encoder Board Firstly we wanted to use the ATMEGA328 Encoder Board that was advertised on the Paparazzi website and available from PPZUAV 8 We had some problems such as there being no output signal from the encoder and so we contacted David Conger from PPZUAV We tried to solve the problems by re soldering but they continued Finally we decided to reload the firmware instead but neither HyperTerminal nor avrdude could establish connection with the micro 9 For this reason we thought that maybe the Bootloader had not been correctly set up and that this could be leading to these problems To solve it we needed and ISP Bootloader but as we did not have we discarded the idea If in future the ATMEGA328 board is purchased the connection should be as shown in Figure 3 13 Chapter 3 Integration 25 Figure 3 13 Wires Soldering onto the Encoder ATMEGA328 The red wire is the PPM signal the wir
36. information see the ICD Power Supply Battery The Power Supply Board is located in the middle of the as you can see in Figure Anex 7 In the Supply Board 4 wires will be soldered in the upper face of the board and 4 in the lower one These 8 wires correspond to the voltage and ground of the 4 engines black are ground and red the supply Moreover 2 wires from the battery will be soldered For more details see the ICD Main Board Power Supply 72 Setup and Integration of a guadrotor used as a research demonstrator B 1 4 Engines The engines used in this project are designed by Hacker GmbH and are called X BL 52s Extreme Brushless First let s explain how a DC Direct Current motor works In a DC motor see Figure Anex 8 there are permanent magnets on the outside and a spinning armature on the inside The permanent magnets are stationary so they are called stators The armature rotates so it is called the rotor Figure Anex 8 Typical DC motor The armature contains an electromagnet When you run electricity into this electromagnet it creates a magnetic field in the armature that attracts and repels the magnets in the stator So the armature spins through 180 degrees To keep it spinning you have to change the poles of the electromagnet The brushes handle this change in polarity They make contact with two spinning electrodes attached to the armature and flip the magnetic polarity of the electromagnet as
37. its movement is restricted by its own software and by the safety restriction In Figure Anex 4 the UAV segment is broken down This will be explained in the proceeding chapters pa Lo Figure Anex 4 Connection between UAV and Communication segments B 1 1 Airframe The engines avionics systems and communication systems are implemented on the Asctec X CSM airframe For a correct positioning there are various holes in which to place the screws In the central core there are 4 tiny holes which must be perforated slightly in order to enlarge them i e solid or dashed yellow arrows in Figure Anex 5 On the lower side of each branch there are 2 holes in which the controller screws can be placed i e red dashed arrows in Figure Anex 5 At either end of each branch there are 4 holes where the engine can be fixed to i e green arrows in Figure Anex 5 Annex B 69 Figure Anex 5 Detailed holes position B 1 2 Avionics Avionics include all the electronic systems used in the aircraft some of which interact between each other and the management and or display of data which keeps us informed of how the flight is going First a brief introduction to the systems in the guadrotor There is a Main Board which has to manage all the information from the other systems and ensure that the flight proceeds as designed This is our AP We also have a GPS that will help us to locate our guadrotor in the Flight Plan To do that i
38. onto the encoder board and plugged into the receiver where the arrow indicates This is the same for the supply wire Although we recommend connecting the GND and supply wires where the arrows indicate you can connect wherever you want using the same order GND outermost line and Supply in the middle row The purple dashed rectangle shows the 8 available channels from the encoder from 1 up to 8 Our receiver only has 7 channels so the last one will be free To connect to the receiver just plug in at the correct number 3 8 2 MeekPE Encoder Board Due to problems with the other encoder board we used the MeekPE encoder Board for the project You can see the integration between the encoder Board and the Receiver MeekPE in Figure 3 24 Chapter 3 Integration 31 putada Y Figure 3 24 Proper connection of the Receiver with the MeekPE Encoder The connection of this Encoder board is different from the other board as explained previously We are going to use 5 channels so as you can see in the image on the right we connect the 4 yellow wires and the white wire The white wire is used in order to inform the encoder that the signal from this wire is the last In Figure 3 24 left you can see the supply red and GND black wires connected Note Remember to set the radio xml up correctly if you are using this encoder board This is further detailed in chapter Radio xml 3 9 Controllers Main Board There are two wires connecting
39. the Loop command sw simulator simhitl gt lt arg flag fbw variable fbw serial port gt lt arg flag ap variable ap serial _port gt lt program gt lt program name Environment Simulator command sw simulator gaia gt lt arg flag b variable ivy bus gt lt program gt lt program name Http Server command sw ground_segment tmtc boa gt lt program name Plot Meteo Profile command sw logalizer plotprofile gt lt program name Weather Station command sw ground segment misc davis2ivy gt lt arg flag b variable ivy bus gt lt arg flag d constant dev ttyUSBl gt lt program gt lt section gt lt section name sessions gt lt session name Flight USB serial 9600 gt File home ubuntu paparazzi conf control_panel xml lt program name Data Link gt lt arg flag d constant dev ttyUSB0 gt lt program gt lt program name Server gt lt program name GCS gt lt session gt lt session name Simulation Booz gt lt program name GCS gt lt program name Server gt lt arg flag n gt lt program gt lt program name Simulator Booz gt lt session gt lt session name Flight USB serial 57600 gt lt program name Data Link gt lt arg flag d constant dev ttyACM0O gt lt arg flag s constant 57600 gt lt program gt lt program name Server gt lt program name GCS gt lt session gt lt session name Flight USB XBee API 576
40. 00 gt lt program name Data Link gt lt arg flag d constant dev paparazzi xbee gt lt arg flag transport constant xbee gt lt arg flag s constant 57600 gt lt program gt lt program name Server gt lt program name GCS gt lt session gt lt session name HITL gt lt program name Hardware in the Loop gt lt arg flag a constant HITL gt lt arg flag noground gt lt arg flag boot gt lt program gt lt program name GCS gt lt program name Data Link gt lt arg flag s constant 57600 gt lt program gt lt program name Server gt lt session gt lt session name Booz simulation AHRS gt lt program name Messages gt lt arg flag c constant telemetry gt lt program gt lt program name Real time Plotter gt lt arg flag t constant rate p gt lt arg flag g constant 0 450 830x450 gt lt arg flag u constant 0 1 gt lt arg flag c constant telemetry B00Z_SIM RATE ATTITUDE p gt lt arg flag c constant telemetry IMU GYRO gp 57 3 gt lt arg flag c constant telemetry B00Z RATE LOOP est_p 57 3 gt lt program gt lt program name Real time Plotter gt lt arg flag t constant rate g gt lt arg flag u constant 0 1 gt lt arg flag c constant telemetry B00Z SIM RATE ATTITUDE g gt lt arg flag c constant telemetry IMU GYRO gg 57 3 gt lt arg flag c constant telemetr
41. 10 pins will be used For more details see the ICD Interface Control Document Main Board IMU As shown in Figure Anex 7 the GPS is located above the core of the airframe to prevent electromagnetic interferences produced in the branches engines or by the core other boards The GPS will be fixed to a back plate with four screws facing up of 12mm length 6mm of diameter and a 2mm high head and spacers of 5mm The order of items from bottom to top to fix the GPS will be screw facing up backplate female spacer GPS and on the upper face of the GPS another female to fix it The connection between the GPS and the Main Board will be completed by an 8 pin Picoblade wire although just 4 pins will be used For more details see the ICD Main Board GPS One small back plate with a 3mm diameter hole in the middle will be screwed to the highest screw present in the core lts function is to allow the GPS to be plugged on the upper side of the core To do this 4 holes of 2 5mm will be made on the extremes to fix the GPS to the back plate The attachment of the back plate to the top of the core will be done with the screw located in top of the core as mentioned previously so it will not be necessary to have more screws just turn face up the one present shown in Figure Anex 6 Between the back plate and the core we will put a spacer of 5 mm We will fix the back plate with the black screw shown in Figure Anex 6 putting it at the upper sid
42. 4 gt lt waypoint alt 10 0 name wp4 x 5 5 y 11 9 gt lt waypoints gt lt includes gt lt include name EETAC procedure EETAC sectors xml gt lt includes gt lt exceptions gt lt exception cond 0r InsideEETAC GetPosX GetPosY GetPosAlt gt ground_alt 30 deroute Stay Home gt lt exceptions gt lt blocks gt lt block name Stay Home gt lt stay wp HOME gt lt block gt lt block name Puntos gt lt go wp wpl gt lt go wp wp3 gt lt go wp wp4 gt lt go wp wp2 gt lt block gt lt block name casa gt lt go wp HOME gt lt block gt lt blocks gt lt flight_plan gt File home ubuntu paparazzi conf flight_plans EETAC sectors xml Pagelofl lt Flight Plan sectors gt lt This file was created as a support of the flight plan Here are detailed the waypoints that belongs to the exception in the Flight Plan Remember that waypoints with an underscore _ before will only be displayed in edition module gt lt DOCTYPE procedure SYSTEM flight_plan dtd gt lt procedure gt lt waypoints gt lt waypoint names 1 x 25 1 y 3 1 gt lt waypoint names 2 x 16 5 y 16 0 gt lt waypoint names 3 x 1 8 y 20 0 gt lt waypoint names 4 x 11 1 y 13 9 gt lt waypoint names 5 x 16 6 y 4 4 gt lt waypoint names 6 x 17 0 y 11 6 gt lt waypoint names 7 x 5 2 y 22 8 gt lt waypoint names 8 x
43. 74 0 Edits debug abbrev 13296 0 debug line 16261 0 _ Remove debug frame 2852 0 N Radio debug_str 5787 0 H engl debug_ranges 968 0 radios FUT7C xml e Edit la SCH Telemetry telemetry telemetry_booz2 xml es Edit make 1 Leaving directory home ubuntu paparazzi sw airborne make Leaving directory home ubuntu paparazzi DONE exec make C home ubuntu paparazzi f Makefile ac AIRCRAFT UPC ap compile 2 gt 8 HOME home ubuntu paparazzi SRC home ubuntu paparazzi Figure 5 64 Paparazzi Center ready for AP flight Chapter 5 Paparazzi Center Interface 57 Note See that Upload button is only available for AP flight Now a brief description of each item will be carried out 5 1 Configuration A C selected the Aircraft we are going to use For simulation we used one which already existed whereas for AP we created one in chapter 4 5 4 Airframe This is the xml used with the Aircraft As for the A C for simulation we use one which has already been completed for AP flight we have created the UPC xml Flight Plan created one flight plan for our purposes Settings It will allow us to manage through the GCS certain Gain values switch the RC from the GCS decide the shape of the holding points Radio selected the xml with the proper setup for our flight For the Simulation this is not very important but for the AP flight it has to be the one we edit correctly Telemetry It will allow us to see th
44. EETAC sectors also enclosed to this project This file was created from scratch File home ubuntu paparazzi conf airframes Poine booz2_al xml lt Airframe used for Simulation Booz2 al xml gt lt Few cha nges from the default one gt lt airframe name BO0Z2 al gt lt servos mi lt servo n lt servo n n 0 neutral 0 max 0xff gt ame FRONT no 0 min 0 neutral 0 max 255 gt ame BACK no 1 min 0 neutral 0 max 255 gt lt servo name RIGHT no 2 min 0 neutral 0 max 255 gt lt servo name LEFT no 3 min 0 neutral 0 max 255 gt lt servos gt lt commands gt lt axis name PITCH failsafe value 0 gt lt axis name ROLL failsafe value 0 gt lt axis name YAW failsafe value 0 gt lt axis name THRUST failsafe value 0 gt lt commands gt lt not needed anymore in subsystem gt lt section name ACTUATORS MKK prefix ACTUATORS MKK_ gt lt define name NB value 4 gt lt define name ADDR value 0x52 0x54 0x56 0x58 gt lt section gt lt l gt lt section n lt define lt define lt define lt define lt define lt define lt define lt define lt define lt define lt define lt section gt lt section n lt define lt define lt define lt define lt define lt define lt define lt define lt define lt define lt define lt define lt define lt define lt define l
45. LT CIRCLE RADIUS value 10 gt lt define name IMU MAG OFFSET value 5 8 gt lt section gt lt section name GCS gt lt define name ALT SHIFT PLUS PLUS value 5 gt lt define name ALT SHIFT PLUS value 1 gt lt define name ALT SHIFT MINUS value 1 gt lt section gt lt section name SIMULATOR prefix NPS_ gt lt define name ACTUATOR NAMES value amp quot front_motor amp quot amp guot back motor amp guot amp quot right_motor amp quot amp quot left_motor amp quot gt lt define name INITIAL CONDITITONS value amp guot reset00 amp guot gt lt define name SENSORS PARAMS value amp quot nps sensors params booz2 al h amp guot gt lt section gt lt airframe gt Page 4 of 4 File home ubuntu paparazzi conf s or jsbsim aircraft reset00 xml lt Reset00 xml gt lt Remember to set up correctly the coordinates in this file gt lt xml version 1 0 gt lt initialize name reset00 gt lt ubody unit FT SEC gt 0 0 lt ubody gt lt vbody unit FT SEC gt 0 0 lt vbody gt lt wbody unit FT SEC gt 0 0 lt wbody gt lt phi unit DEG gt 0 0 lt phi gt lt theta unit DEG gt 0 0 lt theta gt lt psi unit DEG gt 0 0 lt psi gt lt latitude in geocentric coordinates gt lt latitude unit DEG gt 41 084512 lt latitude gt lt lt latitude unit DEG gt 37 6136 lt latitude gt gt lt longitude unit DEG gt
46. also maybe a FDD Floppy Disk Device and the USB appears We have to change the order of this list such that the USB is in the first position of the list Each laptop allows us to move items upward and downward in a different way with the arrow keys with F5 and F6 or another key as indicated When the USB is in the first position the changes must be saved and exit from BIOS Then reboot the laptop without unplugging the USB and it should automatically boot the USB stick In some laptops once the USB is unplugged of course when the laptop is turned off the computer loses the Boot changes and it is necessary to set it again as explained above 36 Setup and Integration of a guadrotor used as a research demonstrator 4 2 Paparazzi Setup Once Ubuntu is correctly installed onto the USB stick it is then time to detail how to obtain the Paparazzi software and prepare it in order to be launched To download the Paparazzi software we have to execute the Synaptic Package Manager System Administration Then a window should appear It should be similar to Figure 4 29 200 Synaptic Package Manager File Edit Package Settings Help L Ouick search c S Reload Mark All Upgrades I roperti Search All S Package Installed Version Latest Version Description Amateur Radio universe 2vcard 0 5 3 perl script to corj Base System universe D 3270 common 3 3 7p7 1build2 Common files fo Communication 3dchess 0 8 1 16 3D chess for
47. ame B00Z2 CMD lt message name INS lt message name INS REF lt mode gt lt mode name h_loop gt lt message name ALIVE lt message name HOVER_LOOP lt message name STAB ATTITUDE lt message name HFF DBG lt lt message name STAB ATTITUDE REF period 4 gt gt lt message name ROTORCRAFT FP lt message name ROTORCRAFT STATUS lt message name ROTORCRAFT NAV_STATUS lt message name HFF GPS lt message name INS REF lt mode gt lt mode name aligner gt lt message name ALIVE lt message name FILTER ALIGNER lt mode gt lt mode name hs_att_roll gt lt message name ROTORCRAFT_STATUS lt message name ALIVE lt message name DL VALUE lt lt message name STAB ATTITUDE HS ROLL period 0 02 gt gt lt mode gt lt mode name tune_hover gt lt message name DL_ VALUE lt message name ROTORCRAFT STATUS lt message name ALIVE lt lt message name B00Z2 SONAR lt lt message name B00Z2 TUNE HOVER lt lt message name B00Z2 GPS lt lt message name INS2 lt message name INS3 lt message name INS REF lt mode gt lt process gt lt telemetry gt Page 2 of 2
48. ame MAX ERR Z value POS BFP OF REAL 10 gt lt define name MIN ERR ZD values SPEED BER OF REAL 10 gt lt define name MAX ERR ZD values SPEED BER OF REAL 10 gt lt define name MAX SUM ERR value 2000000 gt lt define name REF MIN ZDD value 1 5 9 81 gt lt define name REF MAX ZDD value 0 5 9 81 gt lt define name REF MIN ZD value 1 5 gt lt define name REF MAX ZD value 1 5 gt lt define name HOVER KP value 150 gt lt define name HOVER KD value 80 gt lt define name HOVER_KI value 0 gt lt 1 5m s for full stick SPEED BFP OF REAL 1 5 MAX PPRZ 2 gt lt define name RC CLIMB COEF value 163 gt lt SPEED BFP OF REAL 1 5 20 gt lt define name RC CLIMB DEAD BAND value 160000 gt lt lt define name INV_M value 0 118 gt gt lt section gt lt section name GUIDANCE H prefix GUIDANCE_H_ gt lt define name PGAIN value 50 gt lt define name DGAIN value 100 gt lt define name IGAIN value 15 gt lt define name NGAIN value 0 gt Page 3 of 4 File home ubuntu paparazzi conf airframes UPC xml lt feedforward gt lt define name AGAIN value 100 gt lt section gt lt section name BAT gt lt define name MILLIAMP PER PERCENT value 0 86 gt lt define name CATASTROPHIC BAT LEVEL value 9 3 unit V gt lt define name BATTERY SENS value 0 183 integer 16 gt
49. ame actuators name imu name gps name stabilization name ahrs name ins lt firmware name booz_ test progs gt lt target name test_telemetry lt target name test_baro lt target name test_rc_spektrum lt target name test_rc_ppm lt target name test_esc_mkk_simple board booz 1 0 gt lt target name test_actuators_mkk board booz 1 0 gt lt target name test_ami601 lt firmware gt lt airframe gt type nps Bs type ppm gt type transparent gt type mkk gt type b2_v1 0 gt type ublox gt type euler gt type int_cmpl_euler gt type hff gt board booz 1 0 gt board booz_1 0 gt board booz_1 0 gt board booz_1 0 gt board booz_1 0 gt Page 4 of 4 File home ubuntu paparazzi conf flight_plans EETAC xml Pagelofl lt Flight Plan xml gt lt In this project the Flight Plan was called EETAC since the flight will be carried out in that faculty of the UPC Universitat Polit cnica de Catalunya from Spain gt lt DOCTYPE flight plan SYSTEM flight _plan dtd gt lt flight_plan alt 15 ground_alt 0 lat0 41 274955 lon0 1 984608 max_dist_from_home 20 name EETAC security height 5 gt lt waypoints gt lt waypoint alt 10 0 name HOME x 2 8 y 3 6 gt lt waypoint alt 10 0 name wp1 x 14 7 y 1 0 gt lt waypoint alt 10 0 name wp2 x 16 4 y 6 8 gt lt waypoint alt 10 0 name wp3 x 3 5 y 19
50. ation configuration and software setup which are essential to correctly simulate by way of the Ground Control Station and to fly the Quadrotor with the proper safety measures will be explained The software used in this Project is open source and has been developed by the Paparazzi group from ENAC Ecole Nationale de Aviation Civile who have a website 1 which was used as a help tool during the entire project As the quadrotor is intended to be a demonstrator with teaching purposes where there will be significant interaction with students who will be allowed to edit and configure the quadrotor flight the safety will be one of the most important considerations Agradecimientos First of all I would like to thank Gautier Hattenberger and Michel Gorraz members of the Paparazzi developers team who were always willing to help me and solve any problem that arose over the course of the project during our stay in Toulouse and also by email Al grupo de investigaci n ICARUS los cuales confiaron en m y me permitieron aprender tantas cosas de aspectos tan variados A Cristina Barrado y a Jorge Ram rez los cuales me ayudaron y aconsejaron en todas las dudas que surgieron A Francesc Pera porque mucho tuvimos que luchar para conseguir los resultados A mis padres porque gracias a ellos llegu hasta aqu Nunca consideres el estudio como una obligaci n sino como una oportunidad para penetrar en el bello y maravi
51. ation gains d z min 4000 step 1 max 1 module stabilization File home ubuntu paparazzi conf settings settings_booz2 xml Page 2 of 2 stabilization attitude shortname dgain r gt lt dl_ setting var stabilization gains i z min 300 step l max 0 module stabilization stabilization attitude shortname igain psi gt lt dl_ setting var stabilization gains dd z min 0 step 1 max 2000 module stabilization stabilization attitude shortname ddgain r gt lt dl_settings gt lt dl_ settings NAME Vert Loop gt lt dl_ setting var guidance v kp min 600 step 1 max 0 module guidance guidance vi shortname kp gt lt dl_setting var guidance v kd min 600 step 1 max 0 module guidance guidance vi shortname kd gt lt dl_setting var guidance v ki min 300 step 1 max 0 module guidance guidance vi shortname ki handler SetKi gt lt dl_setting var guidance v_z sp min 5 step 0 5 max 3 module guidance guidance vi shortname sp unit 2e 8m alt_unit m alt_unit_coef 0 00390625 gt lt dl_setting var ins vf realign min 0 step 1 max 1 module subsystems ins shortname vf_realign values 0FF 0N gt lt dl_settings gt lt dl_ settings NAME Horiz Loop gt lt dl_setting var guidance h pos sp x MIN 10 MAX 10 STEP 1 module guidance guidance_h shortname sp_x_ned unit 1 2 8m alt_unit m alt_unit_coef 0 00390625 gt lt dl_setting var
52. cratch will be described The first step is to get a Linux OS into a USB which will permit us to fly the quadrotor wherever we wish with only this USB and a computer Firstly it is necessary to have an empty USB stick on which to install the Linux OS The Paparazzi website states that the USB must have at least 2 GB Bearing in mind that a USB of this size gave problems during the project decided to use a USB stick with a larger capacity of 4 GB The best option is to first format the USB stick before starting the installation as show in Figure 4 27 Formatear Install Ubuntu F is Capacidad 3 60 GB Sistema de archivos FAT32 predeterminado Tama o de unidad de asignaci n 4096 bytes Restaurar valores predeterminados Etiqueta del volumen PENDRIVE Opciones de formato Y Formato r pido Crear un disco de inicio de MS DOS Figure 4 27 Features to format the USB stick 34 Setup and Integration of a guadrotor used as a research demonstrator In order to open the window as shown above all that is reguired is to right click the USB icon that appears on the PC and click format The default features are correct for what we need so we can carry out the format process Once done it is necessary to download the Linux 10 04 LTS Lucid iso This is easily downloaded from the Ubuntu website making sure that we download either the 32 bit or the 64 bit version 10 Note Note d
53. ct which data we want to review We will need to calibrate the gyros so we select the IMU GYRO RAW button As in Figure 4 47 three different kind of datum will be provided by the IMU_GYRO_RAW Each one corresponds to an axis To display the data you have to drag and drop each button on the Plotter window So select one for instance int32 gp drag it to the Plotter window and drop there You have to do the same for all three axes The values will be displayed on the Plotter We can add some lines to find out more accurately the exact value of each axis We can guess the average of each line and it can be written on the right where it says Constraint So there we write a number near the average of the z axis and enter Then a black line should appear If we have made a mistake or we have introduced an incorrect value it is easy to delete the lines in the same Plotter window In the Curves down drop menu the values of all the curves should appear so we can easily select the one which we want to delete It is necessary to do this step for each axis We will write the different values three times in Constraint and the black lines will appear in the Plotter as shown in Figure 4 48 The nearest line to the average will provide us with the best settings for the flight 43 Applications Places System 9 Ep WE ag 64 F Sat Nov 12 11 40 ubuntu d z Apr y 7 a 2 508 1 0C 1 telemetry IMU GYR 1 teleme U GYR Ta
54. d to a problem in that the guadrotor did not exactly Know where north was and so it started to spin slightly around its yaw axis Once the ACCEL calibration change was completed I had to set up the Gains in order to decrease the effect of the MAG on the guadrotor as much as possible So I set the gains that affect the yaw axis to 0 lt define name PSI PGAIN value 0 gt lt define name PSI DGAIN value 0 gt lt define name PSI IGAIN value 0 gt Figure 5 53 PSI Gains lt feedforward gt lt define name PHI DDGAIN value 300 gt lt define name THETA DDGAIN value 300 gt lt define name PSI DDGAIN values 0 gt Figure 5 54 PSI_DD Gain If in future a new Magnetometer is purchased the values should be lt define name PSI PGAIN value 2000 gt lt define name PSI DGAIN value 400 gt lt define name PSI IGAIN value 10 gt Figure 5 55 PSI Default Gains Note With a new Magnetometer the PSI_DDGAIN should be 300 Another feature that we should set up is the Catastrophic Battery Level This means that the Paparazzi Center will inform us to end the flight when the battery charge is running dangerously low This value in our battery is 9V but as we can see the value on the xml is more restrictive so it is better to leave it at the default 9 3V Chapter 4 Software Configuration 53 lt section name BAT gt lt define name MILLIAMP PER PERCENT value 0 86 gt lt defin
55. de name rate_loop gt Page 1 of 2 File home ubuntu paparazzi conf telemetry telemetry_booz2 xml lt message name ROTORCRAFT STATUS lt message name DL VALUE lt message name ALIVE period 1 2 gt period 0 5 gt period 2 1 gt lt message name RATE LOOP period 02 gt lt mode gt lt mode name attitude loop gt lt message name ROTORCRAFT STATUS lt message name DL_ VALUE lt message name ALIVE lt message name STAB ATTITUDE lt message name STAB ATTITUDE REF lt mode gt lt mode name vert_loop gt lt message name ROTORCRAFT STATUS lt message name DL_ VALUE lt message name ALIVE lt message name VFF lt message name VERT_ LOOP period 1 2 gt period 0 5 gt period 0 9 gt period 03 gt period 03 gt period 1 2 gt period 0 5 gt period 0 9 gt period 05 gt period 05 gt period 05 gt gt period 05 gt period 5 1 gt period 0 9 gt period 0 062 gt period 4 gt period 2 gt period 0 8 gt period 1 2 gt period 1 6 gt period 03 gt period 5 1 gt period 0 9 gt period 0 02 gt period 1 2 gt period 0 9 gt period 0 5 gt period 1 1 gt period 1 2 gt period 2 1 gt period 0 1 gt gt period 1 gt gt period 20 gt gt period 05 gt period 20 gt gt period 5 1 gt lt lt message n
56. e 100 gt lt define name PSI PGAIN value 380 gt lt define name PSI DGAIN value 320 gt lt define name PSI IGAIN value 75 gt lt feedforward gt lt define name PHI DDGAIN value 300 gt lt define name THETA DDGAIN value 300 gt lt define name PSI DDGAIN value 300 gt lt section gt lt section name INS prefix INS gt lt define name BARO SENS value 15 integer 16 gt lt section gt lt section name GUIDANCE V prefix GUIDANCE V_ gt lt define name MIN ERR Z values POS BER OF REAL 10 gt lt define name MAX ERR Z values POS BER OF REAL 10 gt lt define name MIN ERR ZD value SPEED BER OF REAL 10 gt lt define name MAX ERR ZD value SPEED BER OF REAL 10 gt lt define name MAX_ SUM ERR value 2000000 gt lt define name HOVER_ KP value 500 gt lt define name HOVER KD value 200 gt lt define name HOVER KI value 100 gt lt 1 5m s for full stick BOOZ SPEED I OF F 1 5 MAX PPRZ 2 gt lt define name RC CLIMB COEF value 163 gt lt BOOZ SPEED I OF F 1 5 20 gt lt define name RC CLIMB DEAD BAND value 160000 gt lt sdefine name INV_M value 0 2 gt gt lt section gt lt section name GUIDANCE H prefix GUIDANCE H gt lt define name PGAIN value 100 gt lt define name DGAIN value 100 gt lt define name IGAIN value 0 gt lt section gt
57. e lt define lt define lt define lt define lt define lt lt de lt lt de lt define lt define lt define lt define lt define lt lt define lt define lt define gt fine name MAG X SENS value 4 94075530 integer 16 gt gt fine name MAG Y SENS value 5 10207664 integer 16 gt gt name MAG X SIGN value 1 gt name MAG Y SIGN values 1 gt name MAG Z SIGN value 1 gt name MAG Z SENS value 4 90788848 integer 16 gt name MAG 45 HACK value 1 gt fine name MAG X SENS value 4 94075530 sgrt 2 2 integer 16 gt gt fine name MAG Y SENS value 5 10207664 sgrt 2 2 integer 16 gt gt name MAG X SENS value 3 4936416 integer 16 gt name MAG Y SENS values 3 607713 integer 16 gt name BODY TO IMU PHI value Rad0fDeg 4 gt name BODY TO IMU THETA value Rad0fDeg 3 gt name BODY TO IMU PSI value Rad0fDeg 0 gt name BODY_ TO IMU PHI value RadOfDeg 0 gt name BODY_TO IMU THETA value RadOfDeg 0 gt name BODY TO IMU PSI value Rad0fDeg 0 gt lt section gt lt section lt define lt define lt define lt define lt define lt define name STABILIZATION RATE prefix STABILIZATION RATE gt name name name SP MAX P value 10000 gt SP MAX O value 10000 gt SP MAX R value 10000 gt name name name GAIN P value 400 gt GAIN 0 value 400
58. e shortname gain r gt lt dl_settings gt lt dl_ settings NAME Att Loop gt lt dl_setting var stabilization gains p x min 4000 step 1 max 1 module stabilization stabilization attitude shortname pgain phi gt lt dl_setting var stabilization gains d x min 4000 step 1 max 1 module stabilization stabilization attitude shortname dgain p gt lt dl_setting var stabilization gains i x min 300 step 1 max 0 module stabilization stabilization attitude shortname igain phi handler SetKiPhi gt lt dl_setting var stabilization gains dd x min 0 step 1 max 1000 module stabilization stabilization attitude shortname ddgain p gt lt dl_setting var stabilization gains p y min 4000 step 1 max 1 module stabilization stabilization attitude shortname pgain theta gt lt dl_setting var stabilization gains d y min 4000 step 1 max 1 module stabilization stabilization attitude shortname dgain q gt lt dl_setting var stabilization gains i y min 300 step 1 max 0 module stabilization stabilization attitude shortname igain theta gt lt dl_setting var stabilization gains dd y min 0 step 1 max 500 module stabilization stabilization attitude shortname ddgain q gt lt dl_setting var stabilization gains p z min 4000 step 1 max 1 module stabilization stabilization attitude shortname pgain psi gt lt dl_setting var stabiliz
59. e 1 5 5 Monitor and guidance Determine record UAS state command command amp data AGT intent control data 1 1 3 Produce 1 3 3 Produce FP command AGT command 1 1 4 Execute 1 3 4 Execute FP command IJ AGT command 1 1 5 Convey 1 3 5 Convey FP command LJ AGT command status status Figure Anex 1 Aviate Diagram 66 Setup and Integration of a guadrotor used as a research demonstrator It also has to satisfy some Navigate functions These functions are related to the management and the execution of the Flight Plan for instance Determine Flight Plan Produce Navigation Command Status Determine Navigation Command Status To review in detail all the Navigate Functions that the guadrotor must satisfy see the next diagram 2 Navigate 2 3 Produce nde 2 4 Determine navigation command command status 2 2 1 Determine flight plan 2 2 2 Determine next waypoint 2 2 Determine navigation intent 2 1 Convey navigation state Figure Anex 2 Navigate Diagram Nonetheless the Guadrotor does not have to satisfy the Communication functions because it will not fly over 300m so there will not be communication with the ATC Finally the guadrotor has to satisfy some Mitigate functions The functions are related with avoidance of the ground and vertical objects avoidance of adverse weather conditions and management of contingencies for instance Avoid Air Traffic Avoid adverse environmental conditions
60. e Edit Package Settings Help e Y amp Quick search Q Reload Mark All Upgrades Apply Properties Search All Ss paparazzi d C paparazzi arm7 331 Paparazzi Meta Package Philips ARM7 support O paparazzi avr 3 3 1 Paparazzi Meta Package Atmel AVR support m vz O paparazzi omap 1 0 0 4 Paparazzi support for omap processors 0 paparazzi stm32 1 0 0 6 Paparazzi support for stm32 processors Sections Paparazzi Meta Package Philips ARM7 support Paparazzi Meta Package Philips ARM7 support Status Origin Custom Filters 7 packages listed 1339 installed O broken 174 to install upgrade O to remove 612 MB will be used Figure 4 33 Tools needed for downloading Chapter 4 Software Configuration 39 JSBSIM is an open source FDM Flight Dynamics Model The FDM is essentially the physics math model that simulates the movement of an aircraft The LPC21 is the microprocessor of the Booz Autopilot The dev package includes the C and OCaml compilers and XML handlers The arm7 should not be necessary but one of the packages that arm7 has is the multilib library Without this library an error appears when compiling So I downloaded this too It may be useful to Know that the multilib library will not be used Then we click apply and the download starts It could take few minutes When it finishes a new window appears saying that everything was fine If we complete the entire process and this window appears at the end this mea
61. e located in the middle is the supply and the other wire outermost the GND The connection to the Main Board will be in the same place and will have the same wire order as shown in Figure 3 14 3 4 2 MeekPE Encoder Board During our stay in Toulouse Paparazzi developers gave us the first prototype of another encoder called MeekPE PPM Encoder Board We opted to use this board until such time as we could decide which board would be best for us The Main Board and the MeekPE encoder will be connected through 3 wires The GND the supply of 5V and the PPM signal wire black red and yellow wires respectively as in Figure 3 14 Figure 3 14 Connection Encoder MeekPE Main Board In the next figure the location where the connector with the 3 wires must be plugged into the Main Board is circled The correct order of the wires can be checked in Figure 3 14 26 Setup and Integration of a guadrotor used as a research demonstrator Figure 3 15 Location of the RC connector in the Main Board Note Remember to always check how to crimp or solder the wires properly to fix into the Main Board connector 3 5 Power Supply Battery In this chapter the connections between the Power Supply and the Battery will be detailed The Battery used is a Li Po lt has 11 1V 800Ah and its weight is 67gr It will be located in the inferior half of the core as shown in Figure Anex 7 Figure 3 16 Battery used in the project The battery has two gr
62. e name CATASTROPHIC BAT LEVEL value 9 3 unit V gt lt define name BATTERY_SENS value 0 48 integer 16 gt lt section gt Figure 5 56 Battery Settings Note It is important to change the Catastrophic Battery Level if another battery is purchased Remember to increase a little the value to leave a safety margin The last things that we have to modify are the modes of each switch Manual Auto 1 and Auto 2 You can see in the next image the proper setup lt section name AUTOPILOT gt lt define name MODE MANUAL value AP MODE ATTITUDE DIRECT gt lt define name MODE AUTOl value AP MODE ATTITUDE Z HOLD gt lt define name MODE AUTO2 value AP MODE KILL gt lt section gt Figure 5 57 AP modes 4 5 2 Flight Plan The Flight plan used in the AP flight has been the same as for simulation You can use different FP for AP and for Simulation To see the configuration of the FP see the chapter Flight Plan 4 5 3 Radio xml The next file to be set will be the radio xml The xml file used as a starting point and we will carry out some code changes to the T7chp xml We will set it properly to adapt it to the MeekPE Encoder Board and change the name to FUT7C lt DOCTYPE radio SYSTEM radio dtd gt lt radio name T7chp data_min 900 data max 2100 sync_min 5000 sync_max 15000 pulse type POSITIVE gt lt channel ctl right_stick_horiz function ROLL min 1939 neutral 1525 max 1114 av 0 gt
63. e of the screw Once the back plate is fixed it is better to cut off the outermost part Figure Anex 6 Screw used to fix the backplate Annex B 71 The engine controllers X BLDC located on the outermost part of each branch are fixed by 4 autoperforating screws and by adding 4 mm spacers we avoid the vibrations It s important to keep in mind that these controllers work properly just with the engines X BL 52s If the engines are changed is mandatory to check before flight the correct behavior of each The guadrotor obtains from itself data such as position and movement due to the IMU and GPS which help it to determine the actual position To embed the Power Supply into the middle part of the core it was necessary to enlarge the central hole of the plate located in the middle of the core such that its size was approximately the same size as the Power Supply s micro Figure Anex 7 General vision of the systems in the core B 1 3 Energy The battery is a LiPo with 11 1V and 800mAh It s located in the central lower part of the core as shown in Figure Anex 7 To maintain it fixed a Velcro strip is used The battery purchased didn t have the corresponding charger so it is necessary to choose one that works fine with this battery The battery had a wire with a JST RCY connection to plug it with the Power Supply Board We removed it to improve the supply of the power supply and the battery through banana connectors For more
64. e telemetry we want to check When we select one aircraft all the configuration xml files change to the files associated with it To save the changes it is necessary to save the A C A C drop down menu and then Save Each one of these Configuration xml files can be edited or changed just by clicking on the buttons for those aims located next to the file root Also it is possible to edit which xml is associated with the A C by editing it on the conf xml as detailed before 5 2 Building Here are the buttons to compile and flash the code Clean To clear the current session in the console Build To compile the code Upload To flash the code when it is in AP Compilation and flashing agents will appear during their processes so they can be aborted if something goes wrong 58 Setup and Integration of a guadrotor used as a research demonstrator New targets can be added with the New Target button 5 3 Execution Here you will start the simulation or if you are in AP the flight Execute When clicking this button the Simulation or the flight agents will begin Session Each session that you can select has some associated running agents i e GCS Server Datalink More agents can be added by clicking on Tools selecting them and then saving changes or by editing the control_panel as seen before Stop Remove all processes By selecting this button you can first stop all the running agents and by clicking again you can remove
65. eady a member Then you have to write the line to copy the rules from the paparazzi folder to the etc folder 200 ubuntu ubuntu File Edit View Terminal Help ubuntu ubuntu sudo adduser ubuntu plugdev The user ubuntu is already a member of plugdev ubuntu ubuntu sudo cp home ubuntu paparazzi conf system udev rules 50 papara zzi rules etc udev rules d ubuntu ubuntu Figure 4 35 50 Paparazzi rules Then it is necessary to go to the Terminal write cd paparazzi intro and then make to compile the firmware At this point I tried to start with an easy simulation but in the Console an error appeared lt was related to the GSL GNU Scientific Library so I downloaded the package libgslo dev from the Synaptic Manager highlighted in green in Figure 4 36 Chapter 4 Software Configuration 41 200 Synaptic Package Manager kage Settings Help Ouick search c di A 2 pel a Reload Mark All Upgrades Apply Properties Search all S Package Installed Version Latest Version Description _ e R Amateur Radio universe DO libgslo dbg 1 13 dfsg 1 GNU Scientific Library GSL debug symbols Base System universe x libgsl ruby doc 1 10 3 3 Documentation for Ruby GSL libgsl ruby Communication D libgsioldbl 1 13 dfsg 1 1 13 dfsg 1 GNU Scientific Library GSL library package Communication multiverse Tel libgsl rubyl 8 1 10 3 3 Ruby bindings for the GNU Scientific Library Communication universe
66. eger 16 gt lt define name BODY TO IMU PHI value Rad0fDeg 1 3 gt lt define name BODY TO IMU THETA value RadOfDeg 2 6 gt lt define name BODY TO IMU PSI value Rad0fDeg 0 gt lt section gt lt section name STABILIZATION RATE prefix STABILIZATION RATE gt lt define name SP MAX P value 10000 gt lt define name SP MAX 0 value 10000 gt lt define name SP MAX R value 10000 gt lt define name GAIN P value 400 gt lt define name GAIN 0 value 400 gt lt define name GAIN R value 350 gt lt section gt lt section name STABILIZATION ATTITUDE prefix STABILIZATION ATTITUDE gt lt setpoints gt lt define name SP MAX PHI value Rad0fDeg 45 gt lt define name SP MAX THETA value Rad0fDeg 45 gt lt define name SP MAX R value Rad0fDeg 90 gt lt define name DEADBAND R value 250 gt lt reference gt lt define name REF OMEGA P value Rad0fDeg 800 gt lt define name REF ZETA BI value 0 85 gt lt define name REF MAX P value Rad0fDeg 300 gt lt define name REF MAX PDOT value Rad0fDeg 7000 gt Page 2 of 4 File home ubuntu paparazzi conf airframes UPC xml lt define name REF OMEGA O value Rad0fDeg 800 gt lt define name REF ZETA OI value 0 85 gt lt define name REF MAX O value Rad0fDeg 300 gt lt define name REF MAX 0DOT value Rad0fDeg 7000 gt lt define name REF OMEGA R
67. ers during our stay in Toulouse 3 8 1 ATMEGA328 Encoder Board If the ATMEGA328 encoder is purchased in future the wires must be soldered as shown in Figure 3 21 To connect the encoder with the receiver we have to solder or plug in 9 wires circled in red as shown in Figure 3 21 The black wire soldered on the corner is the ground signal The red wire next to the ground signal will supply the receiver automatically The other 7 wires are the channel inputs from the receiver that the encoder will multiplex The yellow circle highlights the jumper which must be in place if the receiver the servos and the encoder are supplied from the Main Board If the servos are supplied independently by an external battery instead of from the Main the jumper must be removed Figure 3 21 Connection between Receiver and the Encoder ATMEGA328 On the other end the connection between the 9 wires GND 5V and the 7 channels using the proper connector and the receiver is shown below 30 Setup and Integration of a guadrotor used as a research demonstrator Figure 3 22 How to plug the wires into the Receiver Using Figure 3 23 it may be easier to understand how to connect all the wires Figure 3 23 Accurate image of the connection The yellow arrow indicates the Jumper red wire which has to be in place because we supply the servos from the Main Board The black arrow points to the black wire which is the ground lt must be soldered
68. everal xml lines which are required to be set up as follows Chapter 4 Software Configuration 47 lt section name SUPERVISION prefix SUPERVISION_ gt lt define name MIN MOTOR value 2 gt lt define name MAX MOTOR value 200 gt lt define name TRIM A value 0 gt lt define name TRIM Er value 0 gt lt define name TRIM R value 0 gt lt define name NB MOTOR value 4 gt lt define name SCALE value 256 gt lt define name ROLL COEF value 0 0 256 256 lt define name PITCH COEF value 256 256 0 lt define name YAW_COEF value 256 256 256 256 lt define name THRUST COEF value 256 256 256 256 f lt section gt Figure 4 45 Supervision Section If you prefer you can copy the code shown above from the file booz2 at file where it is correctly set up instead of writing the lines yourself Note The value of TRIM E in Booz2 gt file is 6 by default and MAX MOTOR is 210 remember to change them to 0 and 200 respectively if you fix the code manually instead of copying from the booz2 a1 4 5 1 1 IMU Calibration The IMU used in this project was purchased by PPZUAV and was originally sent from United States of America to Spain Also it has been in the laboratory for a long time For this reason it was essential to recalibrate the IMU before flight At this step of the UPC xml we have to set the correct values for the IMU so let s first look at how to calibra
69. fine name MODE_AUTO1 value AP_MODE_ATTITUDE_Z_HOLD gt lt define name MODE_AUTO2 value AP MODE NAV gt lt section gt Figure 4 38 Booz2 a1 modes for Simulation Chapter 4 Software Configuration 43 4 4 2 Flight Plan The FP Flight Plan is the most edited file in the project It is very easy to understand how it works due to its simple structure This makes it incredibly easy to edit the file since you have free reign to simulate almost everything such as shape size etc and at almost any location by simply editing the coordinates Our FP will be called EETAC due to university faculty name The Flight Plan is divided into different parts First of all there are the general settings There you can set the maximum altitude that you want to simulate the geodetic coordinates to center the FP these coordinates will represent the central point the security height when the aircraft enters in an exception the maximum distance from the central point etc Then you create the location of the waypoints The best thing about these is that their position is referenced to the central point so if you change the geodetic coordinates of the FP because you want to fly at another location the waypoints move with the central point and maintain the distances already set Finally you have to select the block that it must complete The blocks are the orders it has to follow For example one block could go from waypoint 1 to waypoint
70. gt lt arg flag c constant telemetry B00Z HOV LOOP sp y gt lt program gt lt program name Real time Plotter gt lt arg flag t constant position z gt lt arg flag u constant 0 1 gt lt arg flag c constant telemetry BOOZ SIM SPEED POS z gt lt arg flag c constant telemetry BOOZ VERT LOOP est_z gt lt arg flag c constant telemetry B00Z VERT _LOOP sp z gt lt program gt lt program name Real time Plotter gt lt arg flag t constant ahrs bp bq br gt lt arg flag u constant 0 1 gt lt arg flag c constant telemetry AHRS EULER STATE bp 57 3 gt lt arg flag c constant telemetry AHRS EULER STATE bg 57 3 gt lt arg flag c constant telemetry AHRS EULER STATE br 57 3 gt lt arg flag c constant telemetry B00Z SIM GYRO BIAS bp gt lt arg flag c constant telemetry B00Z SIM GYRO BIAS bg gt lt arg flag c constant telemetry B00Z SIM GYRO BIAS br gt lt program gt Page 3 of 4 File home ubuntu paparazzi conf control_panel xml lt program name Real time Plotter gt lt arg flag t lt arg flag u lt arg flag c lt arg flag c lt arg flag c lt arg flag c lt arg flag c lt arg flag c lt arg flag c lt arg flag c lt arg flag c lt program gt lt session gt lt section gt lt control_panel gt constant ahrs constant 0 1 gt constant
71. guidance h pos sp y MIN 10 MAX 10 STEP 1 module guidance guidance_h shortname sp_y_ned unit 1 2 8m alt_unit m alt_unit_coef 0 00390625 gt lt dl_setting var guidance h psi sp MIN 180 MAX 180 STEP 5 module guidance guidance_h shortname sp_psi unit 1 2 20r alt_unit deg alt_unit_coef 0 000054641513360 gt lt dl_setting var guidance h pgain min 400 step 1 max 0 module guidance guidance_h shortname kp gt lt dl_ setting var guidance h dgain min 400 step 1 max 0 module guidance guidance_h shortname kd gt lt dl_ setting var guidance h igain min 400 step 1 max 0 module guidance guidance_h shortname ki handler SetKi gt lt dl_ setting var guidance h ngain min 400 step 1 max 0 module guidance guidance_h shortname kn gt lt dl_ setting var guidance h again min 400 step 1 max 0 module guidance guidance_h shortname ka gt lt dl_setting var ins hf realign min 0 step 1 max 1 module subsystems ins shortname hf_realign values 0FF 0N gt lt dl_settings gt lt dl_ settings NAME NAV gt lt dl_setting var flight altitude MIN 0 STEP 0 1 MAX 400 module navigation unit m handler SetFlightAltitude gt lt dl_setting var nav_heading MIN 0 STEP 1 MAX 360 module navigation unit 1 2 12r alt_unit deg alt_unit_coef 0 0139882 gt lt dl_setting var nav_radius MIN 150 STEP 0 1 MAX 150 module naviga
72. h Escola d Enginyeria de Telecomunicaci i eet Aeroespacial de Castelldefels UNIVERSITAT POLIT CNICA DE CATALUNYA TRABAJO FINAL DE CARRERA T TULO DEL TFC Setup and Integration of a Quadrotor used as a research demonstrator TITULACI N Ingenier a T cnica Aeron utica especialidad Aeronavegaci n AUTOR Kenneth Llonch Gonz lez DIRECTOR Cristina Barrado Mux CO DIRECTOR Jorge Ram rez Alc ntara FECHA 22 de Noviembre de 2011 T tulo Setup and Integration of a Ouadrotor used as a research demonstrator Autor Kenneth Llonch Gonzalez Director Cristina Barrado Mux Co director Jorge Ram rez Alcantara Fecha 22 de Noviembre de 2011 Resumen Este trabajo final de carrera est enmarcado dentro de la realizaci n de un PROFEDI Programa de Formaci d Estudiants en Departaments i Instituts dentro del grupo de investigaci n ICARUS de la UPC Universitat Polit cnica de Catalunya El grupo ICARUS est localizado en el Parc Mediterrani de la Tecnologia de Castelldefels Barcelona Actualmente tiene distintos proyectos en marcha siendo el Sky Eye el m s importante El proyecto Sky Eye consiste en la detecci n de hot spots y est subvencionado por la Generalitat de Catalunya Un PROFEDI consiste en la realizaci n de un proyecto en un departamento de la Universidad en este caso de la Escola d Enginyeria de Telecomunicacions i Aeroespacial de Castelldefels en el departamento de Arquitectura de C
73. he root of the launcher so it could be different in each laptop The image logo displayed on the upper left hand corner can be modified with a double click on the image and selecting the image that will be used as an icon 42 Setup and Integration of a guadrotor used as a research demonstrator 209090 Create Launcher Name Paparazzi Center Command home ubuntu paparazzi paparazzi Browse Comment Runs the Paparazzi Center Figure 4 37 Settings to set up a Launcher on the Desktop 4 4 XML Settings for Simulation Nowadays there are a lot of programming codes C C Java FORTRAN xml The Paparazzi files used in this project are mainly in xml As expected some changes in the files were necessary in order to correctly set the flight up In this chapter will detail which xml files must be modified to get a proper simulation The changes in the xml files will be detailed step by step Note Remember that if you want to take a look at the entire xml files are in ANEX C 4 4 1 Airframe xml The airframe file used for simulation will be the Booz2_a1 xml The Booz2_a1 xml used in the simulation will be almost the same as the default one available on the GitHub repository Only one change in the modes in order to begin simulating in NAV will be carried out These will be left as lt section name AUTOPILOT gt lt define name MODE_MANUAL value AP_MODE_ATTITUDE_DIRECT gt lt de
74. heta 57 3 gt lt program gt lt program name Real time Plotter gt lt arg flag t constant attitude psi gt lt arg flag u constant 0 1 gt lt arg flag c constant telemetry BOOZ SIM RATE ATTITUDE psi gt lt lt arg flag c constant telemetry B00Z ATT LOOP est_psi 57 3 gt gt lt lt arg flag c constant telemetry B00Z ATT LOOP sp psi 57 3 gt gt lt arg flag c constant telemetry AHRS MEASURE psi 57 3 gt lt program gt lt program name Real time Plotter gt lt arg flag t constant speed u v w gt lt arg flag u constant 0 1 gt lt arg flag c constant telemetry B00Z SIM SPEED POS u gt lt arg flag c constant telemetry BOOZ SIM SPEED Posy y gt lt arg flag c constant telemetry BOOZ SIN SPEED POSiwW gt lt program gt lt program name Real time Plotter gt lt arg flag t constant position x gt lt arg flag u constant 0 1 gt lt arg flag c constant telemetry BOOZ SIM SPEED POS x gt lt arg flag c constant telemetry BOOZ HOV_LOOP est_x gt lt arg flag c constant telemetry B00Z HOV_LOOP sp_x gt lt program gt lt program name Real time Plotter gt lt arg flag t constant position y gt lt arg flag u constant 0 1 gt lt arg flag c constant telemetry B00Z SIM SPEED POS y gt lt arg flag c constant telemetry B00Z HOV LOOP est y
75. iguration the guadrotor does not start spinning around its yaw axis Now some details about the structure of this project Before the completion of this Final Degree Project some Safety analyses were carried out A very brief description is detailed in ANEX A This project firstly details in chapter 1 the OPERATIONAL CONCEPT where the area and the most important reguirements that the guadrotor must fulfil will be defined In chapter 2 a brief analysis of the ARCHITECTURE will be carried out To see all the associated architecture see ANEX B After the architecture the INTEGRATION process will be explained in chapter 3 In this chapter all the connections and interactions between all the systems will be detailed At this point it is necessary to start dealing with the software and this is done in chapter 4 SOFTWARE CONFIGURATION In this chapter the setup process will be detailed step by step Linux installation Paparazzi downloading and the correct setup of the xml files so that the guadrotor flies well To see the entire xml files see the ANEX C Once the setup process has been explained it will be time to detail the user Paparazzi interface and how they interact with one another This will be detailed in chapter 5 PAPARAZZI CENTER INTERFACE 14 Setup and Integration of a guadrotor used as a research demonstrator CHAPTER 1 OPERATIONAL CONCEPT Once the main information about the project has been seen this chapter w
76. ill explain the aim more accurately features of the guadrotor and some of the project s limitations The EETAC Escola d Enginyeria de Telecomunicaci i Aeroespacial de Castelldefels faculty which belongs to the UPC University carries out diverse activities for secondary school students from around 12 to 17 years old In these activities students gain knowledge and experience in an interactive way such as through the building of rockets which are propelled by the reaction resulting from mixing vinegar and bicarbonate You can see this activity in progress in Figure 1 1 3 Figure 1 1 Vinegar and bicarbonate rocket activity One of the most important goals of this type of activity is to allow the students to perform the experiments by themselves For this reason we explain to them how to complete it with only a brief demonstration of the process and the chemistry involved While these activities are interesting activities which are more relevant to the aeronautical world would be much more challenging For this reason there was a desire within the faculty to carry out more technically challenging activities such as a project which would involve integrating various hardware components and establishing software protocol which could then be demonstrated to students Chapter 1 Operational Concept 15 The ICARUS research group team which is also located in the EETAC faculty and which is composed of teachers researchers
77. it spins 13 Figure Anex 9 Hacker Engine Annex B 73 Each engine will be fixed to the 4 holes situated in each end of the branch green arrows in Figure Anex 5 Two propellers turn clockwise and another two anticlockwise There are three wires that connect the controller to the engine The order in which you connect the three wires does not matter B 2 Ground Station Now that we have reviewed the architecture we will take a look at the Ground Station systems Figure Anex 10 Ground Station Scheme The Ground Station is formed by the RC the computer and a reel The RC contains the switch which allows us to change the flight mode Manual Auto1 and Auto2 and the levels to control the guadrotor i e pitch yaw roll trim The RC used is the one included in the FUTK7005 pack and is the one below 74 Setup and Integration of a guadrotor used as a research demonstrator Figure Anex 11 Futaba 7C 2 4GHz Transmitter The computer could be any laptop with a USB port to boot the Linux from the USB The reel allows us to control physically the maximum distance of the UAV from the center of the OZ B 3 Communications RC Receiver Block Communications Figure Anex 12 Communication Diagram Annex B 75 The uplink will be sent from the RC emitter which belongs to the Ground Station segment The PPM signal sent from the emitter is encoded in FM and modulated at 2 4GHz This signal is recei
78. laced outside the Operational Zone and the guadrotor tries to go to this waypoint when it crosses the maximum navigation radius of 20 m the guadrotor will return to the Home waypoint The quadrotor will be flown through an RC Radio Controller system and data will be monitored on the Ground Station There we can control the displays such as for the Battery the waypoints the telemetry etc In order to obtain this information we will use a USB miniUSB connection It is very important that the guadrotor is always flown in good weather conditions meaning only on sunny days without wind to avoid likely damage to the structure Also moisture can lead to certain problems for the systems and the wires The quadrotor will be flown over the plain located at the EETAC University with a virtual box of 40 40 15m centred as shown in Figure 1 3 The altitude limitation 15 meters will be set by the software In case of a software error a fishing line will only allow it to fly at a maximum of 20 meters above ground As the guadrotor will not fly above 300 meters communication with ATC will not be reguired 7 Chapter 1 Operational Concept Figure 1 3 Operational Zone 18 Chapter 2 Architecture CHAPTER 2 ARCHITECTURE In this chapter a brief explanation of the physical architecture of the quadrotor will be presented The quadrotor system will be divided into smaller subsystems This will allow us to detail the architecture i
79. lloso mundo del saber Albert Einstein CONTENTS INTRODUCTION caida dades 11 CHAPTER 1 OPERATIONAL CONCEPT esse ese ee ees see RRE ee ke ee ke ee ke eie 14 CHAPTER 2 ARCHITECTURE sees eene eek ees bee KEE KEN KEREN eek KER bee bee KEEN EEN 18 CHAPTER 3 INTEGRATION ccccccccccecceecseeececceeeeeseeseeeeeeseceeeueseneeneeees 19 3 1 Main Board EEX e sek sasies bee ee coca Ru Fe n Gawn YL VER EG ee bee Ee ie we Ge GENE Ee EO GE bed 19 3 2 Main Board IMU ie sees Se eN Ee WESE EK wu Dwn gnu de Gee Ed un LLANW SS Gee WE Dee Be de daban 21 3 3 Main Board Power Supply 9 i RAAR ER AAR KRAAK KAR KERE Re AAR KRAG ee RR Aae RE Ee 23 3 4 Main Board Encoder ies ees ee ee EK EER KA GER ER EK GEE EK Ge RR GL GEK ER EE EK Gee Ek ee 24 3 4 1 ATMEGA328 Encoder Board 24 3 4 2 MeekPE Encoder Board 25 3 5 Power Supply Battery uur sesse KERE AR RR EK KAR KERE Re AAR KRAAK KAR KERE ERA ARK Ra Gee RR ae KERE Ee 26 3 6 Power Supply Controllers iss esse RE E K R REA RERERE A A RR KAREE KRAAK ER ER cc 27 3 7 Controller ie ER ER EE OE N RE OE EE EE 28 3 8 Encoder ReceiVer iis disse did see se Se au eed Ee Ge N ee Ge vee Ge Ge GR GEN ON ee EG eu Ge de 29 3 8 1 ATMEGA328 Encoder Board ee ee ee ee see I LL Lu 29 3 8 2 MeekPE Encoder Board 30 3 9 Controllers Main Board sesse ER RR ER Gee EE EE EE EE RE RR RR LLI Ge EE EE EE RE RR RR LL Gee ee EE EE 31
80. lor white gt lt aircraft name EasyStar_ETS ac_id 8 airframe airframes easystar_ets example xml radio radios cockpitSX xml telemetry telemetry default xml flight plans flight plans versatile xml settings settings tuning xml settings infrared xml gui_color red fe lt aircraft name Hexa_LisaL ac_id 153 airframe airframes Poine h_hex xml radio radios cockpitSX xml telemetry telemetry telemetry booz2 xml flight_plan flight_plans dummy xml settings settings settings booz2 xml gui color white f gt lt aircraft name LISA ASCTEC PIOTR ac id 161 airframe airframes esden lisa asctec xml radio radios cockpitSX xml telemetry telemetry telemetry booz2 xml flight_plan flight_plans dummy xml settings settings settings booz2 xml settings settings booz2 ahrs_cmpl xml gui_color white File home ubuntu paparazzi conf conf xml Page 2 of 2 gt lt aircraft name Microjet ac id 5 airframe airframes microjet_example xml radio radios cockpitMM xml telemetry telemetry default xml flight_plan flight_plans basic xml settings settings basic infrared xml gui color f6293ba gt lt aircraft name Tiny IMU ac_id 7 airframe airframes example_twog analogimu xml radio radios cockpitSX xml telemetry telemetry default_ fixedwing imu xml flight_plan flight_plans versatile xml settings settings tuning ins xml gui color blue gt
81. n multiverse reinteract 0 5 0 3 Worksheet based graphical Python shell Communication universe O gvb 12 2 visual simulator of 1 and 2 dimensional vibrat Cross Platform O python scitools 0 7 1 Python library for scientific computing Cross Platform multiverse 7 mayavi2 3 3 0 1 A scientific visualization package for 2 D and Cross Platform universe bk ll gt Status n scientific tools for Python Origin SciPy supplements the popular NumPy module python numpy package gathering a Custom Filters Search Results variety of high level science and engineering modules together as a single e 7 packages listed 1520 installed O broken 7 to install upgrade O to remove 38 1 MB will be used E ubuntu ubu B 11 09 19 1 Yi Synaptic Pac Figure 4 50 Python scipy library You should take into account that when you select the matplotlib package the matplotlib data package is also automatically selected Chapter 4 Software Configuration 51 2 GA Applications Places System Esp gt gt 4 Mon Sep 19 6 37PM ubuntu 5 8 Synaptic Package Manager File Edit Package Settings Help uick search c de Y Ke 8 Ee a Reload Mark All Upgrades Apply Properties Search All DN Installed Version Latest Version Description Amateur Radio universe O python matplotlib doc 0 99 1 2 3ubuntul Python based plotting system documentation Base System universe ki H Communication m python matplotlib dbg D 99 1 2
82. n a simpler way Figure 2 4 Subsystems scheme As shown in Figure 2 4 there are 4 main subsystems UAV Communications Security Subjection Ground Station The solid arrow means that the connection is physical and the dashed arrow means that it is wireless To see the architecture of the guadrotor in detail see ANEX B Chapter 3 Integration 19 CHAPTER 3 INTEGRATION In this chapter the logical and physical connections between all the systems that belong to the guadrotor through the corresponding ICD Interface Control Document will be described Note Henceforth the wires suitability must be checked before soldering or crimping the connectors in order to plug them in correctly Note All schematics present in this chapter have been taken from the Paparazzi website 1 3 1 Main Board GPS The connections have 8 pins in both boards but we will only be using 4 pins since the other 4 are not reguired The GPS Global Positioning System gives longitude and latitude data in order to locate the guadrotor at any given moment When you activate the GPS for the first time it takes approximately 10 minutes to download the ephemerides Thereafter this waiting time will no longer be necessary in order for it to find its location In Figure 3 5 the lower view of the GPS board is shown The connection into which the connector must be plugged is circled in red On the other hand in Figure 3 6 the scheme of the upper vie
83. name Data Link command sw ground_segment tmtc link gt lt arg flag b variable ivy bus gt lt program gt lt program name GCS command sw ground segment cockpit gcs gt lt arg flag b variable ivy bus gt lt program gt lt program name Flight Plan Editor command sw ground segment cockpit gcs edit gt lt program gt lt program name Messages command sw ground segment tmtc messages gt lt arg flag b variable ivy bus gt lt program gt lt program name Messages Python command sw ground segment python messages app messagesapp py gt lt program name Settings command sw ground segment tmtc settings gt lt arg flag b variable ivy bus gt lt program gt lt program name Settings Python command sw ground segment python settings app settingsapp py gt lt program name GPSd position display command sw ground segment tmtc gpsd2ivy gt lt program name Log Plotter command sw logalizer plot gt lt program name Real time Plotter command sw logalizer plotter gt lt program name Log File Player command sw logalizer play gt lt arg flag b variable ivy bus gt lt program gt lt program name Simulator command sw simulator launchsitl gt lt arg flag b variable ivy bus gt lt program gt lt program name Joystick command sw ground segment joystick input2ivy gt lt arg flag b variable ivy bus gt lt program gt lt program name Hardware in
84. nf xml We will use the Booz2 al because it was recommended by Paparazzi developers as the most appropriate aircraft for guadrotors that use Booz Main Board So in this file in the aircraft booz2_a1 we have to change the flight plan from the dummy xml to the one we created called EETAC xml so the aircraft block is left as shown in Figure 4 39 lt aircraft name B00Z2_A1 ac_1d 150 airframe airframes Poine booz2 al xml radio radios cockpitSX xml telemetry telemetry telemetry_booz2 xml flight_plan flight_plans EETAC xml settings settings settings_booz2 xml settings settings_booz2 ahrs_cmpl xml gui color white Figure 4 39 Booz2 at settings for Simulation Chapter 4 Software Configuration 45 Now the flight plan launched will be the one that we have created before 4 4 5 Control_panel xml In the Conf panel we have to create the running agent Simulator Booz The default one is Simulator but it is simulated using launchsitl so instead of changing the default one I preferred to create a new one with the proper setup lt program name Simulator Booz command var BO0Z2 Al sim simsitl gt Figure 4 40 Program created for Simulation Once complete we have to create the next session to correctly simulate the flight lt session name Simulation Booz gt program name GCS gt program name Server gt lt arg flag n gt lt program gt lt program name Simulator Booz gt lt se
85. ns we have correctly downloaded the tools for the Paparazzi software Now we have to download the source code from GitHub Paparazzi repository To download the code you have to open the Terminal Applications Accessories Terminal Then you have to insert the first code line as shown in Figure 4 34 in order to obtain the code from the GitHub repository Then click enter 200 ubuntuoubuntu File Edit View Terminal Help ubuntu ubuntu git clone git github com paparazzi paparazzi git Initialized empty Git repository in home ubuntu paparazzi git remote Counting objects 70361 done remote Compressing objects 100 15291 15291 done remote Total 70361 delta 55993 reused 68766 delta 54591 Receiving objects 100 70361 70361 42 71 MiB 1009 KiB s done Resolving deltas 100 55993 55993 done ubuntu ubuntu Figure 4 34 GIT line to download the code 40 Setup and Integration of a guadrotor used as a research demonstrator At this step we have the tools and the source code Now it is time to complete one of the final steps In order to flash the Paparazzi Boards directly through the USB it is necessary to establish the 50 paparazzi rules line The paparazzi rules are reguired for flashing without them we may have problems flashing the firmware to the guadrotor As shown in Figure 4 35 it is necessary to add our user to the plugdev group if we are not the root user In this case here we are alr
86. nstall upgrade 0 to remove Figure 4 31 Search Code Window 38 Setup and Integration of a guadrotor used as a research demonstrator There we have to write paparazzi and click search It is important now to set the software sources which are located in Synaptic Package Manager Settings Repositories Select all the available sources as shown in Figure 4 32 and close the window Note It is important to select all the software sources if not some dependency problems will occur when trying to download the tools BOO Software SourcAs a Ubuntu Software Other Software Updates Authentication Statistics Reload Mark All Upgrade Downloadable from the Internet All Canonical supported Open Source software main razzi papa id Community maintained Open Source software universe Proprietary drivers for devices restricted Software restricted by copyright or legal issues multiverse Source code Downioed trom REG a Installable from CD ROM DVD Sections Cdrom with Ubuntu 10 04 Lucid Lynx Officially supported Status Restricted copyright Origin Custom Filters oo Search Results 7 packages listed 1508 installed Figure 4 32 Software sources Then click the Reload button again It is not necessary to download all the Paparazzi tools available from the APT line only the ones which are highlighted in green in Figure 4 33 as well as the arm7 package 200 Synaptic Package Manager Fil
87. nstration purposes For this reason it must strictly adhere to safety reguirements The guadrotor will be unable to leave the Operational Zone due to a redundant safety system This is accomplished through the use of hardware and software restrictions 16 Setup and Integration of a guadrotor used as a research demonstrator In order to give some idea as to what activities can be accomplished by students with the guadrotor I will outline two One activity that could be carried out with students would be as follows Rocks would be left in the Operational Zone see Figure 1 3 6 3 or 4 would be fine Students would then try to follow a path such that the rocks always remained below the guadrotor The more accurate the path the higher the score would be for the student Another activity could be to make an easy circuit also using rocks The aim would be to try to complete the circuit without going outside The faster the lap without crashing or leaving the path the higher the score would be for the student The interactive point of the guadrotor project is as you can conclude from the activities proposed to allow the user to fly the guadrotor and edit a flight plan and permit the guadrotor to easily follow instructions If the hardware system fails and the guadrotor tries to leave the Operational Zone the software will prevent this by using a software restriction If during the flight one of the waypoints is p
88. ntal Aligner HS_att_roll Tune_hover gt lt key press key d value 0 gt lt key press key v value 7 gt lt key press key h value 8 gt lt dl_setting gt lt dl_setting var autopilot mode auto2 min 0 step 1 max 12 module autopilot shortname auto2 values Fail Kill Rate Att Rate_rcC Att_rcC Att_C Rate_Z Att_Z Hover Hover_C Hover_Z Nav gt lt dl_setting var kill_ throttle min 0 step 1 max 1 module autopilot values Resurrect Kill handler KillThrottle gt lt dl_ setting var autopilot power switch min 0 step 1 max 1 module autopilot values 0FF ON handler SetPowerSwitch gt lt strip button name POWER ON icon on png value 1 gt lt strip button name POWER OFF icon off png value 0 gt lt dl_setting gt lt dl_setting var autopilot_rc min 0 step 1 max 1 module autopilot values RC OFF RC ON gt lt strip button name RC ON value 1 gt lt strip button name RC OFF value 0 gt lt dl_setting gt lt dl_settings gt lt dl_ settings NAME Rate Loop gt lt dl_setting var stabilization rate gain p min 1000 step 1 max 1 module stabilization stabilization_rate shortname gain p gt lt dl_setting var stabilization rate gain g min 1000 step 1 max 1 module stabilization stabilization rate shortname gain g gt lt dl_setting var stabilization rate gain r min 1000 step 1 max 1 module stabilization stabilization_rat
89. omputadores En l el alumno investiga nuevos campos y ramas de sus estudios y ampl a as sus conocimientos Este PROFEDI consiste en la construcci n de un quadrotor que ser usado en un futuro como demostrador docente por la universidad El proyecto lo he realizado junto con otro estudiante Francesc Pera Gonz lez Inicialmente se document un parte inicial de Safety en com n y posteriormente decid hacer todo el proceso de integraci n y setup En este TFC se detallar n qu segmentos integran el UAV c mo interaccionan entre ellos y la correcta integraci n de los sistemas que los forman As mismo se explicar la correcta instalaci n configuraci n y edici n de todos los aspectos software necesarios para poder simular a trav s de la Ground Control Station o poder volar el quadrotor siempre con las medidas de seguridad necesarias El software usado en el proyecto es de acceso libre y ha sido creado por el grupo Paparazzi de la ENAC Ecole Nationale de VAviation Civile los cuales tienen una web 1 que nos sirvi de soporte durante todo el proyecto Trat ndose de un demostrador docente donde la interacci n con estudiantes a los cuales se les permitir editar y configurar el vuelo del quadrotor ser constante el aspecto de la seguridad es uno de los m s importantes Title Setup and Integration of a Ouadrotor used as a research demonstrator Author Kenneth Llonch Gonz lez Directo
90. oses carrying out all the phases and processes needed for correct functioning Before doing this project it was mandatory to first carry out the safety analysis as shown in SAE ARP 4761 and to develop step by step various early design processes as described in SAE ARP 4754 During the Design process it was necessary to analyze the functions present in the NASA document 11 to understand which functions the guadrotor must satisfy The document where this analysis was done is called Aircraft Level Functions and belongs to the ICARUS research group The Aircraft Level Functions is divided into 4 main chapters Aviate Navigation Communication and Mitigate Our Guadrotor has to satisfy various Aviate functions The functions are related to the actions during the flight the proper preparation on the ground and actions related to system management for instance Convey FP Status Convey AGT Status Maintain command and control between control station and UAS To review in detail all Aviate Functions that the guadrotor must satisfy see the next diagram 1 Aviate 1 1 Control flight 1 2 Control 1 3 Control 14 Beie amp 1 5 Control UAS path FP ground path air ground ul stalcn an A subsystems GP transition AGT UAS 1 1 1 Convey 1 3 1 Convey 1 4 1 Maintain 1 5 1 Control power command amp control subsystems FP state AGT state during all phases of hydraulic flight electrical 1 1 2 Determine 132 1 4 3 Prioritiz
91. oups of wires one to charge it white connector and the other to supply the PS red connector We removed the red connector JST RCY which is shown in Figure 3 16 because the wires may not withstand many flights Chapter 3 Integration 27 Figure 3 17 Connectors between Battery and Power Supply In Figure 3 17 the two thinner wires red female and black male which are the wires from the battery can be seen So we removed the JST RCY connector and the wires and we changed to these wires with banana connectors The other two banana wires are soldered onto the Power Supply and they have the correct size to fit the connectors properly It is necessary to connect the two red wires supply and the two black GND Be careful doing this last step so as not fry the board due to a short circuit 3 6 Power Supply Controllers There are 4 controllers on the guadrotor one for each engine All of them must be supplied from the PS and if it is working properly and is well supplied a green solid LED should be on when turning on the Main Board As the arrow indicates below there are two wires that connect each engine with the Power Supply the red wire which is the supply and the black wire which is the Ground Figure 3 18 The yellow arrow shows where are the black and red wires 28 Setup and Integration of a guadrotor used as a research demonstrator These two wires are already soldered onto the controller when it is purchased
92. own the folder where the iso is downloaded You will need the root in the next step When the iso is downloaded we have to use the Universal USB installer this can be easily obtained also from the Ubuntu website or by way of any search engine to install the iso onto the USB stick correctly 10 Once the USB installer has been installed in this project the version 1 8 4 7 is used we have to carry out a custom setup for our needs When executing it should be similar to Figure 4 28 Im Universal USB Installer 1 8 4 7 Setup Loj mis xi EE Setup your Selections Page Pendrivelinux com Choose a Linux Distro ISO ZIP file and your USB Flash Drive D che Step 1 Select a Linux Distribution from the dropdown to put on your USB Ubuntu 10 04 X y We Found and Selected the iso Visit the Ubuntu Home Page Step 2 DONE ubuntu 10 04 desktop iso Found and Selected C Users usuario Desktop ubuntu 10 04 desktop iso Step 3 Select your USB Flash Drive Letter Only Show all Drives USE WITH CAUTION E v Format E Drive Erases Content Step 4 Set a Persistent f le size for storing changes Optional 2516 MB Click HERE to Visit the Universal USB Installer Page for additional HELP es Figure 4 28 USB installer screenshot Step 1 Select which version is to be installed 10 04 LTS Step 2 Detail the root of the iso in the computer Step 3 Check which port the USB stick is plugged into Step 4
93. r Cristina Barrado Mux Co director Jorge Ram rez Alcantara Date November 22 2011 Overview This final degree project has been realized within a PROFEDI Programa de Formaci d Estudiants en Departaments i Instituts in the ICARUS research group which belongs to the UPC Universitat Polit cnica de Catalunya The ICARUS research group is located in the PMT Parc Mediterrani de la Tecnologia of Castelldefels Barcelona Currently they have several projects underway the Sky Eye being the most important one The Sky Eye project involves the detection of hot spots and is funded by the Generalitat de Catalunya A PROFEDI consists in the realization of a project within a department of the university in this case the Escola d Enginyeria de Telecomunicacions i Aeroespacial of Castelldefels in the Computer Architecture Department Here students explore new fields and branches of study in order to expand their knowledge This PROFEDI involves the implementation of a guadrotor that will be used in future as a university demonstrator This project has been carried out with another student Francesc Pera Gonzalez Initially we redacted the first steps in common mainly safety process and then I decided to draft the system integration and setup process In this TFC the segments which make up the UAV how they interact with each other and the correct integration of the systems will be detailed Furthermore the proper install
94. r in the Main Board 26 Figure 3 16 Battery used in the project ees EEN 26 Figure 3 17 Connectors between Battery and Power SuDDIY iss sesse see 27 Figure 3 18 The yellow arrow shows where are the black and red wires 27 Figure 3 19 It shows where to solder the wires on the Power Supply 28 Figure 3 20 Connection between the Controllers and the Engines 28 Figure 3 21 Connection between Receiver and the Encoder ATMEGA328 29 Figure 3 22 How to plug the wires into the Receiver es ss se see ee 30 Figure 3 23 Accurate image of the connection iese ee ee AK ee Ge ee 30 Figure 3 24 Proper connection of the Receiver with the MeekPE Encoder 31 Figure 3 25 Yellow arrow shows the black and blue wies 31 Figure 3 26 Location of the Controllers connection in the Main Board 32 Figure 4 27 Features to format the USB StiCK 00 2 ee ee ee ee ee ee 33 Figure 4 28 USB installer screenshot EEN 34 Figure 4 29 Synaptic Package Manager Window ooccccccccccccnicinnnnninncnnnnannnno 36 Figure 4 30 Details of the APT me ENEE 37 Figure 4 31 Search Code Wimdow ENEE 37 Figure 4 32 Software SOUICES ENER 38 Figure 4 33 Tools needed for downloading sssssssssnseneeeeenernnerrneenrneesreseereeee 38 Figure 4 34 GIT line to download the code ENEE 39 Figure Ee ER 40 Figure 4 36 Downloading the GSL Package 41 Figure 4 37 Settings to set up a Launcher on the
95. re UAS is developing fastest and new systems are being tested and taken into consideration for later application in civil UAS The function of UAVs depend on their civil or military goal Military UAS have mainly surveillance and exploration functions On the other hand for civil applications UAS are used mainly for search and rescue purposes Nonetheless in civil applications smaller UAS called microUAVs are emerging They are used by many people for hobby and enjoyment purposes during their free time You can see in Table Intro 1 the UAV categories according to their features In the table there are UAVs for civil and also military applications 2 E Range Flight Altitude Endurance Take off UAV Categories Acronym Km m Hours Mass Tactical Micro u lt 10 250 1 lt 5 Mini Mini lt 10 150 to 300 2 lt 30 Close Range CR SH 3000 2to4 150 Short Range sR Do 3000 3to6 200 Medium Range MR as 5000 6 to 10 1250 Medium Range wre gt 500 8000 10to18 1250 Endurance ee Deep LADP gt 250 50t0 9000 0 5to1 350 enetration Low Altitude Long LALE gt 500 3000 gt 24 lt 30 Endurance Medium Altitude MALE gt 500 14000 24t028 1500 Long Endurance Setup and Integration of a guadrotor used as a research demonstrator High Altitude Long E HALE gt 2000 20000 24 to 48 12000 ndurance al P Aerial Vehicle
96. rent we must write transparent_usb Also the AscTec actuators have to be set correctly and the actuators subsystem type is left as asctec_v2 because of the version Finally as we will use the default baud rate 57600 it is not necessary to keep the value on the airframe file so we remove this from the GPS subsystem The group of subsystems explained above should be left as lt subsystem name radio_ control type ppm gt lt subsystem name telemetry type transparent_usb gt lt subsystem name actuators type asctec_v2 gt lt subsystem name 1mu type b2_v1 1 gt lt subsystem name gps type ublox gt lt subsystem name stabilization type euler gt lt subsystem name ahrs type int_cmpl_euler gt lt subsystem name ins type hff gt Figure 4 43 Subsytems code Now let s define the engines of the guadrotor in a simpler way as are detailed by default This change will make their management easier for us In Figure 4 44 you can see that the modified block refers to the engines lt servos min 0 neutral 0 max 0xff gt lt servo name FRONT no 8 min 0 neutral 0 max 255 gt lt servo name BACK no 1 min 6 neutral 0 max 255 gt lt servo name LEFT no 2 min 0 neutral 6 max 255 gt lt servo name RIGHT no 3 min 6 neutral 6 max 255 gt lt servos gt Figure 4 44 Engine code details The next section to be modified is the Supervision where we have to add s
97. rget Alt zim 1m 0m JE RC ON RC OFF kill_throttle Paparazzi Center M es JCS Plotter Figure 4 48 Proper Gyro Calibration of the three axes 50 Setup and Integration of a guadrotor used as a research demonstrator We have to note down the three gyro values and then write as shown below in the UPC xml lt define name GYRO_P_NEUTRAL value 33150 gt lt define name GYRO_Q NEUTRAL value 33300 gt lt define name GYRO_R_NEUTRAL value 31450 gt lt define name GYRO_P_SENS value 1 00 integer 16 gt lt define name GYRO_Q SENS value 1 00 integer 16 gt lt define name GYRO_R_SENS value 1 00 integer 16 gt Figure 4 49 Gyro values in the xml file In order to calibrate the accelerometer and the magnetometer we will use Python It will compute the average of some measurements We first have to download it through the Synaptic Package Manager the scipy and the matplotlib as shown in Figure 4 50 and Figure 4 51 or through the Terminal simply writing sudo apt get install python scipy sudo apt get install python matplotlib Quick search de d el python scipy A Reload Mark All Upgrades Apply Properties Search All S i Latest Amateur Radio universe O python symeig 1 5 2 Symmetrical eigenvalue routines for NumPy Base System universe OD python symeig dbg 1 5 2 Symmetrical eigenvalue routines for NumPy i CHDI Li python scipy _0 7 0 2ubuntu0 1 scientific tools for Python Communicatio
98. s settings_booz2_ahrs_cmpl xml CC home ubuntu paparazzi var BOOZ2_A sim peripherals max1168 0 Gl ES CC home ubuntu paparazzi var BOOZ2_Alsim arch sim peripherals max1168_arch o Configu ration cc romano papi peripherals ami601 o CC home ubuntu paparazzi var BOOZ2_A1 sim subsystems gps o Radio CC home ubuntu paparazzi var BOOZ2_A1 sim subsystems gps gps_sim_nps o CC home ubuntu paparazzi var BOOZ2_A1 sim subsystems ahrs o radios cockpitSX xml a CC home ubuntu paparazzi var BOOZ2_A1 sim subsystems ahrs ahrs_aligner o Telemetry CC home ubuntu paparazzi var BOOZ2_A1 sim subsystems ahrs ahrs_int_cmpl_euler o telemetry telemetry_booz2 xml CC home ubuntu paparazzi var BOOZ2_A1 sim subsystems ins hf_float o LD home ubuntu paparazzi var BOOZ2_A1 sim simsitl make 1 Leaving directory home ubuntu paparazzi sw airbome make Leaving directory home ubuntu paparazzi DONE exec make C home ubuntu paparazzi f Makefile ac AIRCRAFT BOOZ2_Al sim 2 gt amp 1 HOME home ubuntu paparazzi SRC home ubuntu paparazzi Figure 5 63 Paparazzi Center ready for Simulation 00 Paparazzi Center GUI color Target gt et Airframe airframes UPC xml lex Edit Clean Haag Upload Stop Remove All Processes Flight plan bss 6680 1073756028 flight_plans rotorcraft_basic xml es Edit stack i ue r commen Settings debug aranges 1824 0 settings settings_booz2 xml debug pubnames 1922 0 ddd debug info 330
99. sary lt session name Flight USB serial 57600 gt lt program name Data Link gt lt arg flag d constant dev ttyACM0 gt lt program gt lt program name Server gt lt program name GCS gt lt session gt Figure 4 62 Session used for AP 56 Setup and Integration of a guadrotor used as a research demonstrator CHAPTER 5 PAPARAZZI CENTER INTERFACE The Paparazzi developers designed an easy interface to manage the flight and display all the information reguired for us to monitor how the flight is going To launch the PGCS located in Places Home Folder Paparazzi it is just necessary to double click on the paparazzi file Then a window should appear and we select Run instead of Run in Terminal Or use the Launcher created in chapter 4 3 When launched a similar type screen should appear without the red labels which will help us to explain the PGCS 200 Paparazzi Center AIC GUI colo Target n EEN NT Airframe BEEN ER den airframes Poine booz2 al xml uj clean ae Flight plan CC home ubuntu paparazzi var BOOZ2_A1 sim mcu_periph i2c o a flight_plans EETAC xml CC home ubuntu papa razzi var B00Z2_A1 sim arch sim mcu_peri ph i2c_arch o 3 CC home ubuntu paparazzi var BOOZ2_A1 sim subsystems imu o Settings CC home ubuntu paparazzi var BOOZ2_A1 sim subsystems imu imu_b2 0 settings settings_booz2 xml CC home ubuntu paparazzi var BOOZ2_A1 sim arch sim subsystems imu imu_b2_arch o setting
100. ssion gt Figure 4 41 Session created for Simulation You see that one of the programs Simulator Booz is the one that was created in the previous step Then when we go to the Paparazzi Center we can select the A C Booz2 A1 the target sim and the session Simulation Booz The simulation should then start 4 5 XML Settings for AP flight Once seen the files used for simulation let s see now the files for AP flight 4 5 1 Airframe xml For the Booz Main Board there are several airframe files so we base our work on the file that was recommended on the Paparazzi website for AscTec quadrotors The airframe xml used as a starting point is called Booz2 gl First of all you have to save the xml with a new name UPC was used in this project to do all the changes without reversing the configuration of the Booz2 gl file Then let s start with the correct set up of the new file 46 Setup and Integration of a guadrotor used as a research demonstrator First it is necessary to remove almost all of the modules only leaving the main_freq lt modules main freg 512 gt lt load name sys_mon xml gt lt modules gt Figure 4 42 Freguency module The next features to be configured are the telemetry types and actuators subsystems The telemetry subsystem says transparent by default This means that the Datalink will be through Xbee We have to change it correctly to have the Datalink through the USB So instead of transpa
101. t define lt define lt define ame SUPERVISION prefix SUPERVISION gt name MIN_MOTOR value 2 gt name MAX_MOTOR value 210 gt name TRIM_A value 0 gt name TRIM_E value 0 gt name TRIM_R value 0 gt name NB_MOTOR value 4 gt name SCALE value 256 gt name ROLL COEF value 0 0 256 name PITCH COEF value 256 256 0 name YAW_COEF value 256 256 256 name THRUST COEF value 256 256 256 ame IMU prefix IMU gt name GYRO P NEUTRAL value 33924 gt name GYRO O NEUTRAL value 33417 gt name GYRO R NEUTRAL value 32809 gt 256 gt 0 gt 256 gt 256 gt name GYRO P SENS value 1 01 integer 16 gt name GYRO O SENS value 1 01 integer 16 gt name GYRO R SENS value 1 01 integer 16 gt name ACCEL X NEUTRAL value 32081 gt name ACCEL Y NEUTRAL value 33738 gt name ACCEL Z NEUTRAL value 32441 gt name ACCEL X SENS value 2 50411474 integer 16 gt name ACCEL Y SENS value 2 48126183 integer 16 gt name ACCEL Z SENS value 2 51396167 integer 16 gt name MAG X CHAN value 4 gt name MAG Y CHAN value 0 gt name MAG Z CHAN value 2 gt name MAG X NEUTRAL value 2358 gt name MAG Y NEUTRAL value 2362 gt name MAG Z NEUTRAL value 2119 gt Page 1 of 4 File home ubuntu paparazzi conf airframes Poine booz2_al xml Page 2 of 4 lt lt de lt lt d
102. t stick horiz function YAW min 1940 neutral 1520 max 1115 average 0 gt lt channel ctl switch E function MODE min 966 neutral 1526 max 2079 average 10 gt lt channel ctl NoneA function NOTUSEDA min 1100 neutral 1500 max 1900 average 0 gt lt channel ctl NoneB function NOTUSEDB min 1100 neutral 1500 max 1900 average 0 gt lt channel ctl NoneC function NOTUSEDC min 1100 neutral 1500 max 1900 average 0 gt lt radio gt Figure 5 59 Radio XML for ATMEGA328 Encoder Board 4 5 4 Conf xml The next xml to be modified will be the conf xml We will save the airframe in this file and the associated xml configuration this means that the files that will appear in the configuration area in the Paparazzi Center see Figure 5 63 when we select the A C The configuration file can be selected by editing the following xml code or directly on the Paparazzi Center saving the A C Changes The aircraft that we will build will have the following xmls associated with it lt aircraft name UPC ac EEN irframe airframes UPC xml radio radios FUT7C xml telemetry telemetry telemetry_booz2 xml flight plan flight_plans EETAC xml settings settings settings booz2 xml gui color blue o Figure 4 60 Aircraft created in the Conf xml The airframe and radio xml have already been explained The default settings and telemetry files that were used no changes were carried out
103. t will download the ephemerides and with an average error of 1 2 meters it will tell us where we are flying Another important board will be the IMU Inertial Measurement Unit This board contains the gyro accelerometer and magnetometer which inform the guadrotor about its own movements This will allow us to verify that the spins and maneuvers are correct ensure their accuracy and verify them with the GPS information on the PC Finally the engine controllers X BLDC Extreme Brushless Direct Current are the boards that control thrust to move the guadrotor according to Main Board needs Now some indications about where they are located The Main Board is fixed by 4 screws in the central part of the core as seen in Figure Anex 7 Between the Main Board and the airframe surface there are 4 spacer rings of 6mm to avoid vibrations that could damage the board The Main board gets 5V from the Supply Board through a Picoblade wire of 2 pins 70 Setup and Integration of a guadrotor used as a research demonstrator The Main Board is in charge of managing the movement of the guadrotor when it is flying and deciding the thrust relations between the engines to get the right torgue so it flies correctly The IMU is located above the Main Board and is fixed by 4 screws of 25mm and 4 spacers of 20mm The screws have 6mm of diameter and a 2mm high head The connection between both boards is done with a Picoblade wire of 12 pins although just
104. te it First of all it is necessary to launch the Paparazzi Center Once complete you have to verify that the A C and their corresponding xml files are set up so as to fly the guadrotor not for Simulation Therefore the files must remain the same and with the same settings as if you were going to carry out a flight as in Figure 5 64 As always click on clean build and the upload buttons in this order Once finished click the execute button If everything has been properly set up the GCS Server and Datalink agents should be launched in the Paparazzi Center and the GCS should appear in a new window In the GCS go to the Settings tab Then click on Misc and in the Telemetry drop down menu select raw data and then click the green tick which is on the right This will provide us with the current data that the IMU is generating In Figure 4 46 you can see in the middle the Telemetry location where the Raw data is and the green tick on the right of its drop down list 48 Setup and Integration of a guadrotor used as a research demonstrator 43 564676 1 484042 1 0C 18 21 51 UPC UNK 00 00 18 21 51 UPC Wait GPS Bat Status AGL Km 18 21 51 UPC KILL Time 03 02 Q Flight Pian GPS PFD Misc Settings iy 18 21 51 UPC mayday kill mode Stage 00 00 ETA N A 2 Misc Rate Loop Art Loop Vert Loop Horiz Loop Mi met teemery Se E Link Target Alt e m 2m 149m 147m aoz an Reen et m ma BON RCFE
105. ter we have to adapt the next line to our project sw tools calibration calibrate py i lt your_ac_id gt s ACCEL lt path_to_data_file var logs xxxxxxx data gt Note Our id is UPC Pay attention since there are two underscores between the day and the hour in the data file When computed it gives initial guess avg 9 75698633255 std 0 0302746646126 optimized guess avg 9 80993941294 std 0 0243794045253 lt define name ACCEL_X_NEUTRAL value 32785 gt lt define name ACCEL_Y_NEUTRAL value 32537 gt lt define name ACCEL_Z NEUTRAL value 32534 gt lt define name ACCEL_X_SENS value 2 56214892546 _ integer 16 gt lt define name ACCEL_Y_SENS value 2 56099452361 integer 16 gt lt define name ACCEL_Z SENS value 2 56305442006 integer 16 gt 52 Setup and Integration of a guadrotor used as a research demonstrator Now we will write them in the airframe xml lt define name ACCEL_X_SENS value lt define name ACCEL_Y_SENS value lt define name ACCEL_Z SENS value 2 562148 integer 16 gt 2 560994 integer 16 gt 2 563054 integer 16 gt Ho N lt define name ACCEL_X NEUTRAL value 32785 gt lt define name ACCEL_Y_NEUTRAL value 32537 gt 32534 gt lt define name ACCEL_Z NEUTRAL value Figure 5 52 ACCEL values While calibrating with Python realized that the magnetometer was not working properly because it stated that the values were 0 0 0 This lea
106. them 5 4 Console All the clean building flashing and execution processes will appear in the Console Also the warnings and errors while compiling or executing will be displayed here The console helped me a lot to solve de problems since appear the details of the errors 5 5 Step by Step process for simulating The step differences between being simulating or in AP are few By default the A C selected is the Microjet The A C used for simulation is the Booz2 al so you select this A C and then you will see that the configuration files have changed Then select sim in the target drop down Later in the session drop down menu select Booz Simulation the one you have created Then clean build and compile If an error appears you have to solve it before simulation If everything is okay click execute and the running agents should start working Then you can start simulating and checking all the functions and special features available 5 6 Step by Step process for AP flight As detailed before one special A C UPC with all the correct associated files has been created for AP flight You only have to select this A C and select the ap Target and the Flight USB serial 57600 session This will allow us to flash and get the data through the USB Chapter 5 Paparazzi Center Interface 59 Once at this step click on the clean button When it finishes click on the build button If all was done properly no error message should appear
107. tion unit m gt lt dl_settings gt lt dl_settings gt lt settings gt File home ubuntu paparazzi conf s s Settings_booz2 ahrs_cmpl xml Pagelofl lt Settings ahrs xml gt lt File used in Simulation gt lt DOCTYPE settings SYSTEM settings dtd gt lt settings gt lt dl settings gt lt dl_settings NAME Filter gt lt dl_ setting var ahrs impl reinj 1 min 512 step 512 max 262144 module subsystems ahrs ahrs int cmpl euler shortname reinj_1 gt lt dl_settings gt lt dl_settings gt lt settings gt File home ubuntu paparazzi conf telemetry telemetry_booz2 xml lt lt Telemetry xml gt This file is used for Simulation and AP flight gt lt xml version 1 0 gt lt DOCTYPE telemetry SYSTEM telemetry dtd gt lt telemetry gt lt process name Main gt lt lt lt lt mode name default gt lt message name DL VALUE period 1 1 gt lt message name ROTORCRAFT STATUS period 1 2 gt lt message name ROTORCRAFT_FP period 0 25 gt lt message name ALIVE period 2 1 gt lt message name INS REF period 5 1 gt lt message name ROTORCRAFT NAV STATUS period 1 6 gt lt message name WP MOVED period 1 3 gt lt message name B00Z2 CAM period 1 gt lt message name GPS INT period 25 gt lt message name INS period 25 gt lt mode gt lt mode name ppm gt lt message name
108. untu paparazzi conf airframes UPC xml lt define name NB MOTOR value 4 gt lt define name SCALE value 256 gt lt define name ROLL COEF value 0 0 256 256 gt lt define name PITCH COEF value 256 256 0 O gt lt define name YAW_ COEF value 256 256 256 256 gt lt define name THRUST COEF value 256 256 256 256 gt lt section gt lt section name IMU prefix IMU gt lt define name GYRO P NEUTRAL value 33150 gt lt define name GYRO_Q NEUTRAL value 33300 gt lt define name GYRO R NEUTRAL value 31450 gt lt define name GYRO_P_SENS value 1 00 integer 16 gt lt define name GYRO_Q_SENS value 1 00 integer 16 gt lt define name GYRO_R_SENS value 1 00 integer 16 gt lt define name ACCEL_X_SENS value 2 562148 integer 16 gt lt define name ACCEL Y SENS value 2 560994 integer 16 gt lt define name ACCEL_Z_ SENS value 2 563054 integer 16 gt lt define name ACCEL_X_NEUTRAL value 32785 gt lt define name ACCEL_Y NEUTRAL value 32537 gt lt define name ACCEL_Z NEUTRAL value 32534 gt lt define name MAG_X_NEUTRAL value 12 gt lt define name MAG_Y NEUTRAL value 10 gt lt define name MAG_Z NEUTRAL value 11 gt lt define name MAG_X_SENS value 22 008352 integer 16 gt lt define name MAG Y SENS value 21 79885 integer 16 gt lt define name MAG Z SENS value 14 675745 int
109. ved by the receiver and it is transmitted by wire to the encoder Once there the encoder demodulates the signal into PPM signal so as to satisfy the format input into the Main Board The Receiver Encoder is located on the lateral side of the core as shown below in Figure Anex 13 Figure Anex 13 Upper sight of the core If we connect the receiver output signal directly to the input of the Main Board it does not work properly The next image shows how the PPM signal is formed by a seguence of pulses The information is not in the width of the pulses It is in the period between them Period 20ms note 1 f 1 1 1 7 Channel 1 1 i Servo Signal 1 1 1 i 1 1 1 i Channel 2 1 i Servo Signal J H i 1 1 Channel 3 i i PPM Frame Servo Signal 1 1 1 1 1 1 1 N n 2 t3 vm t6 i Received PPM Frame 1 1 1 1 1 1 1 1 1 1 1 1 1 2 RAA AAAA Decoder lt Outputs Channel 4 Servo Signal 1 i i Channel 5 Servo Signal 1 i Channel 6 Servo Signal Synchro Detector Output oes note 3 Figure Anex 14 PPM array 76 Setup and Integration of a guadrotor used as a research demonstrator It is important to consider that the emitter and the receiver have 7 channels each but that the encoder has 8 input channels The connection between the encoder and the Main board is carried out by a 3 pin Picoblade wire For more details see the next ICD Main
110. w of the board and the data for each pin is shown Bear in mind that the data for each pin is written on the board Figure 3 5 GPS Board Back side 20 Setup and Integration of a guadrotor used as a research demonstrator Figure 3 6 GPS Schematic front side In order to Know where to plug each wire it is first necessary to state the aim of each pin Pin nomenclature is a follows GND This is the ground pin 5V This supplies the board with 5 Volts 3V3 This supplies the board with 3 3 Volts Pin not used LPC_TXD_0 and GPS_TX Both pins used for data emission LPC_RXD_0 and GPS_RX Both pins used for data reception SCL 12C line Pin not used BOOT SDA I2C line Pin not used PPS Synchronization signal Pin not used Wires must be plugged in as follows Main Board Pin GPS Pin GND GND 5V 5V 3V3 Ss LPC_RXD_0 GPS_TX LPC TXD O GPS_RX SCL SDA SES PPS Se Table 3 3 Pin connections between Main Board and GPS Chapter 3 Integration 21 The order of the pins in the Main Board is detailed in Figure 3 7 Figure 3 7 Main Board with pins information We will use an 8 pin Picoblade connector but remember that only the connections relationships as shown in Table 3 3 are soldered or crimped 3 2 Main Board IMU The IMU used in this project is Booz IMU v1 01 We will use a 12 pin Picoblade connector but only the 10 central pins are soldered or crimped
111. xml file This file is requested by the airframe file Booz2_a1 as its initial conditions It determines where the simulation will be carried out so the landscape that you see on the Ground Control Station will depend on these coordinates The coordinates that the reset00 file by default has are from Muret a town close to Toulouse So if you simulate the Microjet which is another A C or the Booz2 al without the correct set up of the coordinates you will simulate in Muret instead of the EETAC campus It is very important to say that in the reset00 file the coordinates are in the geocentric system instead of WGS84 as in the FP In order to correctly simulate in the EETAC campus plain had to edit the coordinates and leave them as the reset00 file in the ANEX C It is also noteworthy that if you do not change the coordinates to the EETAC campus in the Flight Plan when you launch the simulation the Ground Station detects by itself the difference between the Flight Plan and the reset00 So by itself it moves the flight plan from wherever it has been located to the central point detailed in the reset00 The waypoints will refer to this point instead of the Flight Plan coordinates In this file you can also set wind direction and speed In AP flight the file reset00 will not be used This is because it takes the coordinates from the GPS or if it is not possible to obtain the coordinates from GPS they are obtained from the FP 4 4 4 Co
112. y BOOZ RATE LOOP est g 57 3 gt lt arg flag c constant telemetry BOOZ RATE LO0P sp g 57 3 gt lt program gt lt program name Real time Plotter gt lt arg flag t constant rate r gt lt arg flag u constant 0 1 gt Page 2 of 4 File home ubuntu paparazzi conf control_panel xml lt arg flag c constant telemetry BOOZ SIM RATE ATTITUDE r gt lt arg flag c constant telemetry IMU GYRO gr 57 3 gt lt arg flag c constant telemetry B00Z RATE LOOP est r 57 3 gt lt arg flag c constant telemetry B00Z RATE LOOP sp r 57 3 gt lt program gt lt program name Real time Plotter gt lt arg flag t constant attitude phi gt lt arg flag u constant 0 1 gt lt arg flag c constant telemetry B00Z SIM RATE ATTITUDE phi gt lt arg flag c constant telemetry B00Z ATT LOOP est phi 57 3 gt lt arg flag c constant telemetry B00Z ATT LOOP sp phi 57 3 gt lt arg flag c constant telemetry AHRS MEASURE phi 57 3 gt lt program gt lt program name Real time Plotter gt lt arg flag t constant attitude theta gt lt arg flag u constant 0 1 gt lt arg flag c constant telemetry B00Z SIM RATE ATTITUDE theta gt lt arg flag c constant telemetry B00Z ATT LOOP est theta 57 3 gt lt arg flag c constant telemetry B00Z ATT LOOP sp theta 57 3 gt lt arg flag c constant telemetry AHRS MEASURE t
113. y for AP flight ee es ee ee ee 56 Figure Anex 1 Aviate Diagram ak EER ED KEER wield EA eg N age by 65 Figure Anex 2 Navigate Diagram EEN 66 Figure Anex 3 Mitigate Diagram esse sesse ese ee ee ee ee RR ee Re ee 67 Figure Anex 4 Connection between UAV and Communication segments 68 Figure Anex 5 Detailed holes position ENER 69 Figure Anex 6 Screw used to fix the backplate nenneeeeneeneennneennreesresseeeeee 70 Figure Anex 7 General vision of the systems in the core sesse see ee 71 Figure Anex 8 Typical DC Motor ara 72 Figure Anex 9 Hacker ENGINE EE Eie Ee ee Be ee dd 72 Figure Anex 10 Ground Station Scheme ee ER RR ee 73 Figure Anex 11 Futaba 7C 2 4GHz Transmitter ee ee ee ee ee ee ee 74 Figure Anex 12 Communication Diagram sees ee ER ee Re 74 Figure Anex 13 Upper sight of the Core ees ee Re 75 Figure Anex 14 PP Mamas oli ii 75 Figure Anex 15 Security Subjection Scheme ie RR ER Re 76 Figure Anex 16 Screw used to tie the fishing me 76 LIST OF TABLES Table Intro 1 UAV ClassificatiON ee ee RR ER RR ee ee ee ee ee ede ee ede ee 12 Table Intro 2 Short Range UAVs features is ss se ERA ee ede ee ee ede ee ee ee 12 Table 3 3 Pin connections between Main Board and GPS ese ee 20 Table 3 4 Pins between the Main Board and the IM 23 AGT CCA DC ENAC FDM FHA FM FP GPS GS HDD ICD IMU OZ PC PMT PPM PRA RC UAS UAV USB VTOL WGS84 X BLDC XML ZSA LIST OF

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