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Re: [Paparazzi-devel] Differential GPS through Paparazzi (James Maday)

From: Prof. Dr.-Ing. Heinrich Warmers
Subject: Re: [Paparazzi-devel] Differential GPS through Paparazzi (James Maday)
Date: Tue, 17 Mar 2009 18:41:29 +0100
User-agent: Mozilla/5.0 (Windows; U; Windows NT 5.0; de-DE; rv:1.4) Gecko/20030619 Netscape/7.1 (ax)

Please look for the program kinematics (GPL).
Whit the lea4t modules  DGPS is possible with a precision of 30cm.
The T modules cost about 20 Euro more than  the normal.
You need a second base GPS receiver  near the ground  Station and  a uplink to the aircraft.
For altitude measurement we have made a pressure sensor with 24 Bit resolution and  i2c connection.
A other one uses the analogue output of the lpc2148 to get a resolution of 10 bit for 50m by amplifying a voltage difference.
This kind we use on the EMAV08 competition and our first  Quadrocopters.
Pressure sensors can be sampled from freesacle.
You can download the  eagle files from


Heinrich Warmers

address@hidden schrieb:
Hello James,

what would be the source for the differential signal?
Do you suppose to get it throught the uplink from
the GCS, some kind of local receiver on the AP or
some kind of network-device on the AP?


On Tue, 17 Mar 2009 00:54:09 -0500, James Maday <address@hidden> wrote:
Hello Paparazzi fans-

I'm working with a team developing a UAV which will very soon employ the
Paparazzi Autopilot (AP) for navigation.  We have only just begun
programming our airframe.xml, but before we get far I'm hoping to answer
this feasibility question: is differential GPS (DGPS) usable by the
system for altitude measurement?

I've searched the mailing list and didn't find any previous talk of using
DGPS with Paparazzi, so I figured I'd poll the audience to see if anyone
tried and can offer advice.  Thank you very much!

To answer my question here are some basic project details.  The UAV must
maintain 10-15 feet (roughly 3 - 4.5m) above the ground following
predetermined waypoints for 10 hours.  We have two sets of the TWOG with
LEA_5H GPS device from PPZUAV.  We are using a laptop w/ Intrepid Ubuntu
Linux for the GCS.  An example of a UAV that uses DGPS in its AP is the
ScanEagle by Insitu/Boeing.  ( )

-James Maday
St. Louis, MO


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