我们在为Paparazzi飞控项目添加MavLink协议 长春理工大学 光电工程学院 创新实验室 412
**暂时停止更新，感谢小新和畅畅同学的贡献，愿她们一路顺风。 2013/06/27
aparazzi is an attempt to develop a free software Unmanned (Air) Vehicle System. As of today the system is being used successfuly by a number of hobyists, universities and companies all over the world, on vehicle of various size ( 100g to 25Kg ) and of various nature ( fixed wing, rotorcrafts, boats and surface vehicles).
Up to date information is available in the wiki http://paparazzi.enac.fr
and from the mailing list [[email protected]] (http://savannah.nongnu.org/mail/?group=paparazzi) and the IRC channel (freenode, #paparazzi).
Installation is described in the wiki (http://paparazzi.enac.fr/wiki/Installation).
For Ubuntu users, required packages are available in the [paparazzi-uav PPA] (https://launchpad.net/~paparazzi-uav/+archive/ppa), Debian users can use http://paparazzi.enac.fr/debian
- paparazzi-dev is the meta-package that depends on everything needed to compile and run the ground segment and the simulator.
- paparazzi-arm-multilib ARM cross-compiling toolchain for LPC21 and STM32 based boards.
- paparazzi-omap toolchain for the optional Gumstix Overo module available on lisa/L.
- paparazzi-jsbsim is needed for using JSBSim as flight dynamic model for the simulator.
conf: the configuration directory (airframe, radio, ... descriptions).
data: where to put read-only data (e.g. maps, terrain elevation files, icons)
doc: documentation (diagrams, manual source files, ...)
sw: software (onboard, ground station, simulation, ...)
var: products of compilation, cache for the map tiles, ...
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type "make" in the top directory to compile all the libraries and tools.
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"./paparazzi" to run the Paparazzi Center
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Select the "Microjet" aircraft in the upper-left A/C combo box. Select "sim" from upper-middle "target" combo box. Click "Build". When the compilation is finished, select "Simulation" from the upper-right session combo box and click "Execute".
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In the GCS, wait about 10s for the aircraft to be in the "Holding point" navigation block. Switch to the "Takeoff" block (lower-left blue airway button in the strip). Takeoff with the green launch button.
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Power the flight controller board while it is connected to the PC with the USB cable.
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From the Paparazzi center, select the "ap" target, and click "Upload".
- From the Paparazzi Center, select the flight session and ... do the same than in simulation !
分析代码结构，摸清系统架构。
data author content path
2013/05/07 xiaoxin 分析了sw文件夹下的源码，对分析该文件夹 sw/airborne/arch/stm32/ReadMe.txt
下的源码，参考原英文注释对部分源文件作
出中文注释，并对该文件夹下的代码架构做
出了简要的总结
2013/05/08 chorushe 分析了框架层的架构和部分代码 NULL
2013/05/08 roubo 确定了代码分析的优先顺序 NULL
2013/05/11 xiaoxin 分析了旋翼机的主循环，熟悉了基本的执行流程 sw/airborne/firmwares/rotorcraft/README
2013/05/13 roubo 分析了周期性任务运作等 NULL
2013/05/16 roubo 地理坐标系paper doc/pprz_geodetic/headfile.pdf
2013/05/16 roubo 代数计算方法paper doc/pprz_algebra/headfile.pdf
2013/05/17 xiaoxin 分析了各种坐标系的相互转换原理 sw/airborne/math
2013/05/17 chorushe 分析了算法函数的代数运算方法 sw/airborne/math
2013/05/24 xiaoxin 分析了imu传感单元的通讯方式 sw/airborne/subsystem/imu/关于Aspirin Imu传感单元通讯方式分析.pdf
2013/06/26 roubo 等待最后的分析