From:  antoine . drouin 
Subject:  [Paparazzi-devel] JMD04 and other news 
Date:  Mon, 20 Sep 2004 10:18:31 +0200 
User-agent:  Internet Messaging Program (IMP) 3.2.5 

Hi everybody

Paparazzi's microjet won the JMD04 MAV event ( )

During the event, we had contact with industrials who told us they were
interested in manufacturing our board. Maybe the end of the nightmare for those
of you who don't enjoy soldering iron :)

We've received PCBs and assembled the new version of the controller board
(v1.2.1) - The servo driver reset bug is fixed and the board seems to behave
well on the desk - We'll let you  know how it does in flight in the following

We've tagged the version that we used for the trophy (jmd-04 ). You should be
able to safely upgrade from the previous tagged version (emav-04). Most
noticable difference is the use of UTM in place of GWS84. You'll have to setup
your GPS receiver to output the correct messages. Maybe we could add our
receiver configuration in the CVS ?

You will also need a patched version of ivy (the network software bus)
while the guy at make a new release with the patches we sent them.

We're setting up a debian package repository and let you know when it's done.

We intend to break everything in the CVS head in the following days to add
groung station support for several aircraft at once, so you'd better stick to
the jmd-04 version for now.

During the flight competition, we once again had trouble with radio jamming. We
really need a checksumed rf transmission. I will call Multiplex once more to
ask for their PCM specifications. If they refuse once again to disclose it, I
want to define and implement a new "open" PCM protocol, eventually with low
throughput data in it. We could use a commercial HF module (maybe even a
frequency synthesys once) and connect it to the laptop. Then fly using a
joystick or a simulator transmitter.

Do you have idea about a suitable protocol or know the interface of a commercial
HF module ?



From:  antoine . drouin 
Subject:  [Paparazzi-devel] News etc... 
Date:  Mon, 4 Oct 2004 14:45:05 +0200 
User-agent:  Internet Messaging Program (IMP) 3.2.5 

Hi everybody

The v1.2.1 board now has completed a couple of flights and seems to perform ok.

We have a new "circle" navigation mode.

A bug was discovered in the fuse writing code on the mega8 - The low fuse was
writen first (switch from internal oscillator to external ceramic resonator)
then the high fuse (switch the rail to rail amplifier on for 16MHz resonator).
On some chips once you had writen the low fuse, the lack of amplifier would
prevent the MCU to oscillate the resonator until you replace it with a lower
frequency one.
Inverting the order of write (high then low) solves the problem.

A debian repository is beeing set up at ( )
It's not complete yet, but you must grab ivy-c and ivy-ocaml from here if you
want a chance of running the ground station.

We've destroyed our last v1.0 board (short circuit) - Support for v1.0 and v1.1
boards will be dropped soon.



From:  Pascal 
Subject:  [Paparazzi-devel] More software 
Date:  Sat, 16 Oct 2004 18:25:11 +0200 
User-agent:  Mozilla/5.0 (X11; U; Linux i686; en-US; rv:1.6) Gecko/20040413 Debian/1.6-5 


The paparazzi distribution now includes a "software in the loop" simulator 
which allows to run the autopilot code (sensors acquisition, stabilization, 
navigation, downlink, ...) on your desktop computer, without any hardware, 
while staying close to the fireplace (it's raining today in Toulouse :-). 
The code is in sw/simulator links an approximative (please do not laugh !) 
aircraft model with the actual autopilote code. 

To use it:

- configure (conf.xml, ground_segment.xml), choose an aircraft and and a 
flight plan. The available 
example is the easiest first try.

- compile successively in fly_by_wire/, autopilot/ and simulator/ directories. 
The simplest other way is to clean and recompile everything (make clean; make) 
from the top directory. - run the control panel (supervision/ and 
... follow the instructions given at the end of the 
 - ... ask for help if something goes wrong.

Something else for Debian users (others should consider a migration to this 
wonderful Linux distribution :-) : Paparazzi required packages are now available 
from the following source 

   deb unstable main

Install the "paparazzi" meta-package and you should then be able to compile the 
whole Paparazzi 
distribution !

Have fun.


Copyright 2004