Building the Software

Running is supported using Ubuntu 10.10 (maverick) and above.

In order to build the system the following software must be installed on your computer.

Building the Onboard Software

• newlib-arm_1.13_all.deb
• lpc21isp_0.1_i386.deb
• gcc-arm_3.4.4_i386.deb
• binutils-arm_2.16.1_i386.deb

You may download these packages from the wasp homepage.

Building the Groundstation

• Install the dependencies

sudo apt-get install python-gtk2 python-serial python-gtkglext1 python-opengl python-osmgpsmap

• Check out the code from wasp.

git clone git://github.com/nzjrs/wasp.git

• Update any git submodules

git submodule init
git submodule update

• Checkout the branch tha represents the configuration you are flying

git checkout -b name-of-branch origin/name-of-branch

• Install the bootloader rules (this makes the usb port accessible by non-root users, i.e. those that are members of the plugdev group).

sudo cp ./sw/bootloader/10-wasp-uav-bootloader.rules /etc/udev/rules.d/

• Ensure that the user who is going to program the Autopilot is a member of the plugdev group.
• Check the groundstation runs

cd sw/groundstation
./groundstation.py

• Install the groundstation (optional) Using this method, the groundstation can be started from the Applications menu in GNOME, however for developemnt it is recommended to run the groundstation from the command line

cd sw/groundstation
make install-local

• Build the onboard code

cd sw/onboard
make

Building the Documentation (Optional)

• python-sphinx > 1.0
• doxygen

Programming the Autopilot

The autopilot software is programmed using a built in USB bootloader. To enter programming mode, the autopilot must be powered on with the USB port connected to the computer.

• Using the command line

cd sw/onboard
make upload

• Using the Groundstation. To program the autopilot you may select the UAV -> Program Autopilot menu option, and select Program. Any errors are printed to the console

Other commands can also be applied to change what is build, for example

• make TARGET=target_name (test/test_led for example)
• make ARCH=arch_name
• make clean
• make generated