Green Attractor

Demo

The testing location has different obstacles. The navigation for the drone is decided using this state diagram. The detection for competition is done using a vertical green colorfilter that navigates on the availablity of green in the detection box. The extension for detecting a mat is a vertical bar with the same green filter, that looks over the mat in order keep flying. It looks ahead and takes over when the horizontal bar fails.

Videos showing the flight in simulation

Video showing the standaard world flight

Video showing the mat avoidance extension

Video showing the orange maze

Setup for execution

Clone the code

mkdir paparazzi
cd ~/paparazzi
git remote add origin https://github.com/dirkdefuijk/paparazzi
git fetch tudelft green_attractor_refactored
git checkout green_attractor_refactored

Sync the modules

git submodule init
git submodule sync
git submodule update

Build Paparazzi by using:

make clean
make

Starting paparazzi

python start.py

Select: Conf: userconf/tudelft/course conf.xml Controlpanel: userconf/tudelft/course control panel.xml . Click ‘Set active’ and close the dialog.

sudo apt install ffmpeg vlc cmake jstest-gtk default-jre
sudo apt install gazebo9 libgazebo9-dev

Build OpenCV for the Bebop and install requirements

cd ~/paparazzi/sw/ext/opencv_bebop
sudo apt install libjpeg-turbo8-dev libpng-dev libtiff-dev zlib1g-dev libdc1394-22-dev
make

Run paparazzi

cd ~/paparazzi
./paparazzi

Paparazzi UAS

Paparazzi is a free open source software package for Unmanned (Air) Vehicle Systems. For many years, the system has been used successfuly by hobbyists, universities and companies all over the world, on vehicles of various sizes (11.9g to 25kg). Paparazzi supports fixed wing, rotorcraft, hybrids, flapping vehicles and it is even possible to use it for boats and surface vehicles.

Up to date information is available on the wiki http://wiki.paparazziuav.org

To get in touch, subscribe to the mailing list [[email protected]] (http://savannah.nongnu.org/mail/?group=paparazzi), the IRC channel (freenode, #paparazzi) and Gitter (https://gitter.im/paparazzi/discuss).

Required software

Instructions for installation can be found on the wiki (http://wiki.paparazziuav.org/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 the [OpenSUSE Build Service repository] (http://download.opensuse.org/repositories/home:/flixr:/paparazzi-uav/Debian_7.0/)

Debian/Ubuntu packages:

• paparazzi-dev is the meta-package on which the Paparazzi software depends to compile and run the ground segment and simulator.
• paparazzi-jsbsim is needed for using JSBSim as flight dynamics model for the simulator.

Recommended cross compiling toolchain: https://launchpad.net/gcc-arm-embedded

Directories quick and dirty description:

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, ...

Compilation and demo simulation

1. type "make" in the top directory to compile all the libraries and tools.

2. "./paparazzi" to run the Paparazzi Center

3. 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".

4. 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.

Uploading the embedded software

1. Power the flight controller board while it is connected to the PC with the USB cable.

2. From the Paparazzi center, select the "ap" target, and click "Upload".

Flight

1. From the Paparazzi Center, select the flight session and ... do the same as in simulation !