Re: [Paparazzi-devel] I/O of Paparazzi

[Felix Ruess]

Hi,

HITL doesn't really make sense if you want to simulate using an IMU.

If you want to couple your own flight dynamics model (not using JSBSim) it would make sense to use the NPS (new paparazzi simulator). There you can "plug in" different FDMs, with JSBSim beeing the only one used so far. It also features the incorporation of sensors models (noise, bias, etc.). Although it was initially written mainly for quadrotors (http://paparazzi.enac.fr/wiki/BoozSimulator) it would not need too much work to use it for fixedwings as well.
You can find NPS in sw/simulator/nps/

Cheers, Felix

On Thu, Feb 17, 2011 at 11:53 AM, Gareth Roberts <address@hidden> wrote:

Hi Lucas,

There is a developer guide here:
http://paparazzi.enac.fr/wiki/Developer_Guide

The coupling between JSBSim and Paparazzi has already been written allowing full FDM simulations to be carried out from within the paparazzi groundstation.  All that is required is to write a JSBSim model file describing your airframe.

http://paparazzi.enac.fr/wiki/Simulation#JSBSim (this documentation is currently slightly outdated).

If you are sure you want to run the actual hardware in the loop, paparazzi already has a HITL simulator:

http://paparazzi.enac.fr/wiki/HITL

although this uses paparazzi's standard FDM model, rather than JSBSim.

Perhaps modifying paparazzi to use JSBSim from within the HITL environment would be the best way to go and would also be contributing back to the project.

If you are still sure about doing this completely externally, you'll need to simulate the UBlox GPS protocol, the IR sensor voltage for the ADC and the RC PPM signal - none of these are paparazzi protocols per say.

You can then use the paparazzi data link & server to parse the messages on the ground station, and get the information from the paparazzi data server using the Ivy software bus.

I'm not sure what you mean by research flight simulator, but if you are referring to the large moving platform type thingys all universities have I'm unsure why you'd want to connect paparazzi to this?

Cheers,
--G

On Wed, 16 Feb 2011 10:07:07 -0000, Lucas Marchesini <address@hidden> wrote:

Dear Sirs,

I am a research associate at the University of Zurich, institute of aeronautics and transport system, and I am working with the guys of the UMARS project.
On the UMARS there is the Paparazzi autopilot.
On my side, I am the project manager of the research flight simulator of the University.
Two students are starting now their bachelor thesis on making the flight dynamics model of the UMARS.
We would like coupling the simulator with the Paparazzi in a closed loop.

To do this we need to know the I/O data and format of the paparazzi: which parameters are needed, which ones are output and what is their format.

Please, could you direct me to where to find these information ?

Thanks a lot and best regards

                - Lucas Marchesini -

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