Documentation Needed
From Paparazzi
Please add subjects that you would like documented and add details to be specific. If some related information already exists on the wiki for the subject, please add a link.
Contents |
Thoughts from the outset
Pascal recommends grouping all info into:
1. Quick Start Guide 2. User's Manual 3. Reference Manual 4. Developer's Manual
For the time being I am targeting two documents: A guide documenting current system implementation details (whether hardware/software airborne/ground) and another documenting tips, tricks, and examples. The first focuses primarily on how the boards and code are structured and what everything does and how. The second is a systematic description of how to put a system together using a few working examples as illustrations.
Currently not targeting booz/quadrotor topics in favor of focusing on the more mature fixed-wing system, but that may change.
Paul
Hardware
Airborne Hardware Topics
- Building your first UAV (Structured introduction, suggestions, and a few start-to-finish examples) GPS options
Telemetry options - quantify weights, latencies and bandwidths Power sources Power distribution IR Sensors - Theory of operation - Practical limits - How to build and mount
- Tiny 2.11 and TWOG overview (Block diagram, specs, issues, etc) - Optional sensors: baro, ADXRS (lists, how to connect, compile, typical data, etc) - Using an IMU instead of IR for attitude sensing/estimation
Groundstation Hardware Topics
- Demo or Hello World applications - Example application to tap into the telemetry stream
Software
Airborne Software Topics
- Complete description guide to build paramaters - Complete description guide to configuration paramaters - Tayloring telemetry messages (Description, examples) - Control Theory (Concepts, Block diagram, sampling and computing rates, etc) - Adaptive control - Quantifying available CPU cycles - The extra CPU interfaces and how to use them - GPS parsing (Protocols/Rates) - Telemetry (Interfaces, Protocols)
Groundstation Software Topics
- Hardware in the loop (Purpose, description, setup, example) - Software in the loop (Purpose, description, setup, example) - Connecting Flightgear to GCS
Older Notes
1.3 Ground Station software 1.3.1 Target Build Procedure
Real targets Simulated targets Order, Compiler
1.3.2 Telemetry
- customizing - examples of adding custom messages
1.3.3 Hardware in the loop 1.3.4 Understanding GCS 1.3.5 Building GCS 1.3.6 Using GCS
Various sections of the interface Basic usage Software in the loop/simulated flight
1.3.7 Customizing GCS
2. In Practice
Noise mitigation and good rules of thumb (short wires, shielded cables, RF chokes, etc) Flight Plan Configuration Basics Options Advanced Options Flight stages - take off - landing - various options - interesting examples Flying without a ground station Failure scenarios Airframe
Multi-plane flights - cooperative - Formation Payload drops Camera pointing and stabilization
2.1. Building
Selecting an aircraft Electronics IR Sensors
The Tiny controller
2.2 Preparing for flight
Configuring throttle and servo positions Configuring IR Testing telemetry Final testing
2.3 Flight
2.3.1 Tuning Control loop parameters 2.3.2 First flights - Manual - Auto 1 at altitude - Full Auto 1 - Initial Auto 2
Going beyond: - Autolanding - Parsing telemetry messages in independent application - Communicating from ground station to custom airborne hardware
- Tracking antenna - Plotting 3d flight data - Streaming live flight - Interface with Flightgear - Flying with a PC joystick - OSD video
Booz topics
- Quadrotor flight dynamics - Construction options - Speed Controller options - IMU options - GPS options - barometer options - Control methodology - manual flight - autonomous - waypoint navigation - special options (taking advantage of holonomic nature?)
