#   Paparazzi $Id$
#   Copyright (C) 2003-2005 Pascal Brisset Antoine Drouin
#
# This file is part of paparazzi.
#
# paparazzi is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2, or (at your option)
# any later version.
#
# paparazzi is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with paparazzi; see the file COPYING.  If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA.  
# 

Intro
-----

Paparazzi is an attempt to develop a cheap fixed wing UAV (Unmanned Air
Vehicle).  As of today we have successfully flown autonomously several small
electro powered fixed wing aircraft: the Twinstar and the Microjet of
Multiplex.

Up to date informations are available from the website

	www.nongnu.org/paparazzi

and from the mailing list.

Directories description:
-----------------------

conf: the configuration directory (airframe, radio, ... descriptions). YOU HAVE
TO EDIT THERE the Makefile.local file

data: where to put read-only data (e.g. maps and terrain files)

doc: the paparazzi documentation.

hw: hardware definitions (electronic schemas, PCBs, ...)

sw: software (onboard, ground station, simulation, ...)


Required Software
-----------------
 - AVR micro-controller development environnment (avr-gcc, uisp, avr-libc)
 - OCaml (ocaml.org), xml-light library (http://tech.motion-twin.com/xmllight)
 - gcc, GTK2, Glib2, libgnomecanvas, libxml2
 - ...

For Debian users: Required packages are available at
	http://www.recherche.enac.fr/paparazzi/debian
Installation of the meta-package "paparazzi" will install everything
needed (if something is missing, please ask)

Compilation
-----------

  0) Configuration. Default PAPARAZZI_HOME is $(HOME)/paparazzi. You
can change it by setting an environment variable

  1) "make" in the top directory

  2) Set the PAPARAZZI_SRC environment variable to the top directory
(default is /usr/share/paparazzi)

  2) "make init" creates a directory $PAPARAZZI_HOME for your own files.
Configure there the conf/conf.xml

  3) "make ac AIRCRAFT=<name>" compiles everything for the specified
aircraft (default is twinstar2 for which conf files are provided) and
set the files in $PAPARAZZI_HOME/var/<name>

  5) "make clean_ac AIRCRAFT=<name>" cleans files for the specified aircraft.

  6) $PAPARAZZI_HOME/var/<name>/sim/simsitl.out runs the soft simulator.

Uploading of the embedded software
----------------------------------

  1) Power the flight controller board. Plug the pc-link to the board
  and to the host parallel port.

  2) Upload with

	make upload_fbw		# Fly by wire
	make upload_ap		# Autopilot

  Important notes:
     - The pclink must be switched accordingly with the target
     - The "fly by wire" controller cannot be uploaded when the
     "autopilot" controller is running. They cannot independently be
     modified; then an upload of the fly by wire usually requires

	make erase_ap
	make upload_fbw
 	make upload_ap


Running the ground segment monitoring
-------------------------------------
  1) The transmitter must be plugged to the flight controller and both must
  be powered.

  2) The ground modem must be powered and plugged to the antenna and
  to the host (trough a serial port)

  3) Launch the supervision

	sw/supervision/paparazzi.pl

  4) Launch "receive", "cockpit", "map", ...


Log replay 
----------
   1) Run the supervision

	sw/supervision/paparazzi.pl

   2) Launch "play", "cockpit", "map", ...


Software in the loop simulator
------------------------------
This simulator allows to run the stabilization and navigation controllers
and play with the ground control station.

0) Use the conf.xml and ground_segment.xml examples for the configuration.
Recompile everything to be sure you run what you want ("make clean; make" in
the top directory). The mission takes place in Braunschweig, Germany
(flight competion of EMAV'04).

1) Run the "control panel" (sw/supervision/paparazzi.pl)
 This window helps to launch the different components.

2) Launch the "cockpit" to display flight parameters

3) Launch "sim" (aircraft simulator)
  You get two windows standing for
    - The aircraft
    - The radio-controller (RC, displayed as one slider for each channel,
even if some of them are buttons on the real RC)

4) "Boot" the aircraft (button in the aircraft window)
  The cockpit now displays some parameters. You can check
  - The autopilot mode: "auto1" (stabilized manual mode)
  - The altitude (on the right of the horizon)
  - The speed: null (on the left of the horizon)

5) "Launch" the aircraft (button in the aircraft window)
  The speed is now 10m/s.
  The altitude is going down: push the THROTTLE to go up !
  Ok, you were probably too slow: the aircraft went too far from HOME
and the autopilot mode is now "home" (cockpit window): it is going
back home automatically and you do not control anything with the RC.

6) Launch "map" (from the control panel)
 In this window, you can zoom with mouse wheel and pan with the middle
button.
 The aicraft is going around the "HOME" waypoint.
 Now, reset the autopilot mode with GAIN1 slider (push full left for
one second, put it back around 0 when "auto1" is displayed in the
cockpit window). The aircraft is going away: turn right or left with
the "ROLL" slider which directly controls the "roll" angle (set it to 0
to go straight)
 Look at the altitude. Control its variation with the "THROTTLE".

7) Launch "mission" (from the control panel)
 This window displays the flight plan the aircraft will follow in
autonomous mode. If your current altitude is realistic, the second
block should be active (if not, go up with more THROTTLE)

8) Switch to autonomous mode "auto2" with the "MODE" slider (push right)

  The aircraft successively goes to waypoints 1 and 3 while trying to
stay at a constant altitude of 200m. The trajectory is better if you
active the automatic calibration of the attitude with the "LLS" slider
(with a large positive value, you get "ON" on the Cockpit window)

9) Activate the next block of the flight plan with "GAIN1" slider (full left)
 The active block is now the "height". On the "map" window (type
CRTL-C to clear the track), you can observe a red point (the "carrot")
which moves in front of the aircraft: it is the guide of the aircraft
(that you probably should consider as a donkey in this case), always
5 second before the aircraft on the desired track.

10) Add some west wind (with the slider on the aircraft window)
 5m/s is an acceptable value for this approximative flight model. The
aircraft no longer can follow the "height" trajectory.

11) Activate the next block of the mission ("GAIN1" slider, full left)
 In this "xyz" mode, you can control the carrot position with the
"YAW" (west-east) and "PITCH" (south-north) sliders: the slider value is
the speed of the carrot.

12) Activate the next block
 In this block, the aircraft follows a circle around the "HOME"
waypoint at a fixed distance.

13) Close the control panel to quit