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Re: [Paparazzi-devel] Paparazzi Autopilot for Linux

From: Marcus Wolschon
Subject: Re: [Paparazzi-devel] Paparazzi Autopilot for Linux
Date: Sun, 28 Mar 2010 13:13:20 +0200

Sorry, Ißve been away for a while.

so after me you are the second one to do this porting?
Did you check your Pololu-code into the Paparazzi-CVS?

I already wrote gpsd-support and commited it into the
CVS quite a while ago. Did you write a new one?


On Sun, Feb 21, 2010 at 10:21 PM, Pat Hickey <address@hidden> wrote:
> Hi all,
> As part of the Rutgers University team entering the AUVSI UAS
> competition, Bradley Lord and I ported the Paparazzi airborne code to
> run on a Linux-based single board computer. We needed a powerful
> onboard computer to develop our imaging system, and in order to
> consolidate hardware and make the software more extensible, we decided
> to run the autopilot on that computer as well.
> To replace a Tiny v2, we used a Beagleboard and many devices which are
> very similar to those found in a traditional Paparazzi setup. The few
> major changes had to do with PPM input and PWM output: instead of
> processing any signals from the safety R/C radio, we leave the input
> selection up to a Pololu 4-channel servo multiplexer. We used a Pololu
> Micro Maestro device for servo output from a USB device. The  Micro
> Maestro has a programmable failsafe mode if servo updates from the
> flight computer have timed out.
> We haven't had to worry about real-time performance- Paparazzi is very
> reliable on the 500MHz processor, and took up only 5% of the available
> power. We trimmed out much of the code that was specific to the arm7
> and real-time responsibilities. We're also working on two extensions
> (an IMU, and integration with gpsd) that will extend Paparazzi using
> higher level languages (like C++, Python) using sockets and message
> queues. All of these changes make our platform a bit more flexible,
> and it might be a good option for a research, sensing, or imaging
> platform.
> We currently use a thermopile based attitude tracking system just like
> the Tiny uses, but we're moving to an IMU soon.
> I've posted our code on Github
> (, and I prepared
> a website describing our project that has more details about our work:
> We owe a great deal of thanks to the Paparazzi developers and
> community for providing the excellent software we built on. We look
> forward to continuing work on this project. I'm happy to correspond
> with anyone who needs help using our code.
> Pat Hickey
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden

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