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Old Mar 26, 2014, 12:45 AM
David1
bmw330i's Avatar
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Joined Mar 2007
1,478 Posts
Tutorial on installing Paparazzi on a Linux system

There are a great many good how to out there on installing Ubuntu 12.04. Here is a quick and easy how to on installing the Paparazzi software.

I have done just this hundreds of times. It really is this easy if you follow the directions exactly.

Enjoy:
Paparazzi Installation Linux (11 min 54 sec)
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Old Apr 07, 2014, 06:26 PM
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Joined Apr 2014
2 Posts
Paparazzi "Inside Sector" exception help!

Hey, I was just wondering if someone could explain to me if I'm doing something wrong with implementing the Inside<sector name> function that is created when a sector is defined in the flight plans code, in paparazzi:

<sectors>
<sector name="NOFLYZONE" color="red">
<corner name="_A"/>
<corner name="_B"/>
<corner name="_C"/>
<corner name="_D"/>
</sector>
</sectors>
<exceptions>
<exception cond="! InsideNOFLYZONE(estimator_x, estimator_y)" deroute="standby"/>
</exceptions>

That's a snippet of my code that has the exception condition that I used. When I run a software in the loop simulation, the simulator immediately deroutes to the standby block, skipping all the other blocks before it. The problem is, the simulation starts at Home, which I have defined to be well within the the NOFLYZONE sector.

Is there something wrong with how I implemented that exception? If I take it out, everything runs as it should.

Thanks
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Old Apr 09, 2014, 02:22 AM
David1
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USA
Joined Mar 2007
1,478 Posts
Quote:
Originally Posted by paparazzi_guy View Post
Hey, I was just wondering if someone could explain to me if I'm doing something wrong with implementing the Inside<sector name> function that is created when a sector is defined in the flight plans code, in paparazzi:

<sectors>
<sector name="NOFLYZONE" color="red">
<corner name="_A"/>
<corner name="_B"/>
<corner name="_C"/>
<corner name="_D"/>
</sector>
</sectors>
<exceptions>
<exception cond="! InsideNOFLYZONE(estimator_x, estimator_y)" deroute="standby"/>
</exceptions>

That's a snippet of my code that has the exception condition that I used. When I run a software in the loop simulation, the simulator immediately deroutes to the standby block, skipping all the other blocks before it. The problem is, the simulation starts at Home, which I have defined to be well within the the NOFLYZONE sector.

Is there something wrong with how I implemented that exception? If I take it out, everything runs as it should.

Thanks
Take a look inside ${PAPARAZZI_HOME}/conf/flight_plans/versatile.xml
They have a square defined and a condition to fly into it (landing box). Probably might be helpful to verify syntax etc.

Waypoints and Square defined:
Code:
  <waypoints>
    <waypoint name="HOME" x="0" y="0"/>
    <waypoint name="STDBY" x="20" y="80"/>
    <waypoint name="1" x="44.8" y="102.2"/>
    <waypoint name="2" x="-63.5" y="122.9"/>
    <waypoint name="MOB" x="-11.5" y="-21.2"/>
    <waypoint name="S1" x="-151.6" y="80.4"/>
    <waypoint name="S2" x="180.1" y="214.9"/>
    <waypoint alt="30" name="AF" x="200" y="-10"/>
    <waypoint alt="0" name="TD" x="80.0" y="20.0"/>
    <waypoint name="BASELEG" x="26.9" y="-23.0"/>
    <waypoint name="_1" x="-100" y="0"/>
    <waypoint name="_2" x="-100" y="200"/>
    <waypoint name="_3" x="100" y="200"/>
    <waypoint name="_4" x="100" y="0"/>
    <waypoint name="CLIMB" x="-122.5" y="35.4"/>
  </waypoints>
  <sectors>
    <sector name="Square">
      <corner name="_1"/>
      <corner name="_2"/>
      <corner name="_3"/>
      <corner name="_4"/>
    </sector>
  </sectors>
Here's the part with the exeption:
Code:
<block name="Fly in Square">
      <exception cond="! InsideSquare(GetPosX(), GetPosY())" deroute="Come back wp 1"/>
     <attitude alt="ground_alt+75" roll="0" vmode="alt"/>
    </block>
    <block name="Come back wp 1">
      <exception cond="InsideSquare(GetPosX(), GetPosY())" deroute="Fly in Square"/>
      <go wp="1"/>
      <deroute block="Fly in Square"/>
    </block>
The page in the manual around flight plans is here: http://wiki.paparazziuav.org/wiki/Flight_Plans
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Old May 15, 2014, 11:42 AM
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Joined Jun 2009
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Paparazzi RTF drones available

Paparazzi RTF drones available

Luftfotos24 presents the first UAS product line "Beast series”. The system allows everyone to take aerial pictures, research, orthophotos, aerial surveying and precision farming.


www.luftfotos24.de/news
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