http://wiki.paparazziuav.org/w/api.php?action=feedcontributions&user=UttaminAUTO2&feedformat=atomPaparazziUAV - User contributions [en]2024-03-28T14:30:38ZUser contributionsMediaWiki 1.37.1http://wiki.paparazziuav.org/w/index.php?title=Tuning&diff=3969Tuning2008-08-11T02:40:46Z<p>UttaminAUTO2: </p>
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<div>This page provides some tips and guidelines for tuning a new aircraft. Be sure to familiarize yourself with the theory of [[Theory_of_Operation#PID|PID Controllers]] before you begin. Use of the [[RTPlotter|real time plotter]] may help to visualize and understand the behavior of the control loops.<br />
<br />
== Sensors ==<br />
<br />
=== Neutrals ===<br />
* Put the aircraft in a styrofoam container or completely seal the IR sensors with styrofoam or similar blocks and get a reading of the neutrals for each axis. Also take the gyro neutrals at this time. Update your airframe file, flash the AP and re-check the neutrals.<br />
<br />
Using the roll gyro as a worked example: Run up your GCS and ensure it <br />
is communicating with your airframe. Make sure your airframe is roughly <br />
level and that it cannot move. Now run the Messages Tool and the [[RTPlotter|real time plotter]] tool. The messages tool will have lots of flashing lights <br />
indicating when it receives various telemetry packets. In the Messages <br />
tool, Click on Gyro Rates and you should see a list of variables. Click <br />
on Roll_ADC and drag and drop in onto the main window of the Real Time plotter. Now give it a while to build a stable graph.<br />
<br />
Once things have been running this way for a while, in the Real Time <br />
Plotter, click on Curves in the menu and select the <br />
1:telemetry:GYRO_RATES:Roll_ADC entry. As you select it, you should see <br />
the average and standard deviation values. We need the average value. <br />
Jot down the number you have. I have -24.536.<br />
<br />
Now go edit your airframe file and look for the ADC_ROLL_NEUTRAL value. <br />
In my airframe file the value is 520. As my average value from the Plotter is a <br />
negative figure, it indicates that the roll Neutral is too high, subtract the average value from the present setting. So I edited my airframe file to be 495.464 (520-24.536).<br />
<br />
Recompile and reflash (Don't worry about restarting the GCS, The <br />
messages program or the other running processes - they will catch up just <br />
fine after flashing). Once the Board is back up and the plotter continues, reset it from the menu to get rid of the average. Watch it for a while and check that the line and acculmulated average is on or around 0. You are done. Use the same process for the IR sensors!<br />
<br />
=== Directions ===<br />
* Reverse any servos and make sure no mechanical binding occurs at the limits of travel in Manual mode.<br />
* Take the plane outside and engage AUTO1. Bank and pitch the plane and verify that the controls respond in the correct direction. Note that your body will have a tremendous impact on the measured angles.<br />
* Verify that AUTO1 stick movements respond in the correct direction - important!<br />
* Move the plane rapidly to ensure the gyro response resists motion - increase the gain if needed for better visualization.<br />
<br />
== R/C, Modem, and GPS ==<br />
Make sure the GPS signal is strong (outdoors) - you should have a 3-D fix in less than 1 minute and at least some satellite signals above 40dB. The plane should not drift on the map by more than 10 meters. Perform a range test of R/C and modem signals.<br />
<br />
== Trim ==<br />
<b>Important: You must never keep any trim, mixers, or rates in your R/C transmitter.</b> R/C trim can be applied in flight but must be corrected and removed on the ground before attempting autonomous flight. Exponential can be useful and will not adversely affect AUTO1 flight but if "low rates" are needed they should be programmed on the same transmitter switch with AUTO1 so that you always have full travel in AUTO1.<br />
* Fly the plane at what you feel is a suitable "cruise" throttle setting and set the trims. Note that setting in the GCS and try to return to that exact setting in subsequent tests. Enter that throttle setting in your airframe file.<br />
* Check maximum pitch and roll response and adjust the mixer parameters or mechanical linkages after landing.<br />
* Land and adjust the linkages. If necessary, the PPM values can be read from the GCS and servo neutrals adjusted electronically, but manual adjustment will produce far better results.<br />
* Fly again to verify trim and control response. If satisfactory, check for any significant throttle-dependent roll. Again, this is best to correct mechanically but can be addressed with the ''AILERON_OF_THROTTLE'' mixer in the autopilot. Check also for any odd behavior at full throttle.<br />
* Make sure that GPS and modem data is reliable during these test flights. Note particularly any tendency for the aircraft to appear to fly sideways on the map - this is an indication of weak GPS signals.<br />
<br />
== Auto 1 ==<br />
* Engage Auto1 and ''immediately'' make sure you can turn both left and right!<br />
* Fly at your "cruise" throttle and adjust the ''ROLL_PGAIN'' until the plane doesn't quite oscillate<br />
* Adjust the IR roll neutral as needed<br />
* Verify adequate pitch response and adjust PITCH_PGAIN as needed<br />
* Experiment with different throttle settings and tune P and D gains as needed<br />
<br />
== Auto 2 ==<br />
* Engage Auto2 and you're done!<br />
<br />
==Alternate Tuning Procedure==<br />
Danstah wrote up a tuning procedure on this website http://www.engr.usu.edu/wiki/index.php/OSAMtuning<br />
<br />
==Other Misc things before flying==<br />
It's very important to address the issue of low voltage cut-off before flying. There's a good chance that the LVC will kick in on the brushless ESC before the Paparazzi detects it. If this happens, the ESC cut's off throttle, and there's no way the autopilot knows this, the plane keeps loosing altitude, the autopilot tries to increase throttle, but the ESC does not respond, almost always leading to a mishap. To avoid this, either turn off the LVC on the ESC, OR, make sure the autopilot kills throttle first, by programming the CATASTROPHIC_BAT_LEVEL to something higher than the ESC LVC. For example, set CATASTROPHIC_BAT_LEVEL to 9.5V, and the ESC LVC at 9V. Don't ask how we know, it was a safe landing into a small tree :) No damage. BUT you cant get lucky always!</div>UttaminAUTO2http://wiki.paparazziuav.org/w/index.php?title=Telemaster&diff=3856Telemaster2008-06-28T04:11:15Z<p>UttaminAUTO2: </p>
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<div>[http://www.recherche.enac.fr/paparazzi/wiki/index.php/Airframes <<] Back to Airframes<br />
<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:Telemasteruphigh.jpg|thumb|left|Mini Telemaster]]<br />
|<br />
This is a self built airframe. Built from plans. The Telemaster was choosen for it's excelent flying characteristics, to help make it easier to get used to the amazing Paparazzi system. If you are new to the system, a stable plane to start with is a must. Tuning and flying this plane is largely due to the lovely ENAC time and other active Paparazzi users. A special thanks to Pascal for having infinite patience to take time and answer all my questions! <br />
|}<br />
<br />
== Features ==<br />
<br />
* All Depron, Styrofoam and Fiberglass<br />
* 4 Channel trainer<br />
* Super strong Carbon Fiber wing spar for added payloads<br />
* Overpowered setup giving ample room to add additional sensors and payloads<br />
<br />
== Specifications ==<br />
<br />
* 42" Span<br />
* 620gms AUW<br />
* Tiny 2.11 ( ~21.5gms )<br />
* Approx. Wing area ~2 sq. ft.<br />
* ~160W power setup on a 9*6 APC-E<br />
* Has flown in winds up to 10m/s<br />
* Up to 30mins endurance in less than ideal conditions<br />
<br />
== Misc Notes ==<br />
<br />
I intend to add lots of information here by and by!<br />
<br />
<br />
== Pictures ==<br />
[[Image:Paparazzitelemasterlaunch.jpg|thumb|left|Up Up and away!]]<br />
[[Image:Telemasterclimbout.jpg|thumb|left|Telemaster climbing out]]<br />
[[Image:Telemasterlanding1.jpg|thumb|left|Telemaster Landing after successful AUTO2 trials]]</div>UttaminAUTO2http://wiki.paparazziuav.org/w/index.php?title=File:Telemasterlanding1.jpg&diff=3855File:Telemasterlanding1.jpg2008-06-28T04:10:32Z<p>UttaminAUTO2: </p>
<hr />
<div></div>UttaminAUTO2http://wiki.paparazziuav.org/w/index.php?title=File:Telemasterclimbout.jpg&diff=3854File:Telemasterclimbout.jpg2008-06-28T04:08:46Z<p>UttaminAUTO2: </p>
<hr />
<div></div>UttaminAUTO2http://wiki.paparazziuav.org/w/index.php?title=File:Paparazzitelemasterlaunch.jpg&diff=3853File:Paparazzitelemasterlaunch.jpg2008-06-28T04:06:37Z<p>UttaminAUTO2: </p>
<hr />
<div></div>UttaminAUTO2http://wiki.paparazziuav.org/w/index.php?title=Telemaster&diff=3852Telemaster2008-06-28T03:52:45Z<p>UttaminAUTO2: </p>
<hr />
<div>[http://www.recherche.enac.fr/paparazzi/wiki/index.php/Airframes <<] Back to Airframes<br />
<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:Telemasteruphigh.jpg|thumb|left|Mini Telemaster]]<br />
|<br />
This is a self built airframe. Built from plans. The Telemaster was choosen for it's excelent flying characteristics, to help make it easier to get used to the amazing Paparazzi system. If you are new to the system, a stable plane to start with is a must. Tuning and flying this plane is largely due to the lovely ENAC time and other active Paparazzi users. A special thanks to Pascal for having infinite patience to take time and answer all my questions! <br />
|}<br />
<br />
== Features ==<br />
<br />
* All Depron, Styrofoam and Fiberglass<br />
* 4 Channel trainer<br />
* Super strong Carbon Fiber wing spar for added payloads<br />
* Overpowered setup giving ample room to add additional sensors and payloads<br />
<br />
== Specifications ==<br />
<br />
* 42" Span<br />
* 620gms AUW<br />
* Tiny 2.11 ( ~21.5gms )<br />
* Approx. Wing area ~2 sq. ft.<br />
* ~160W power setup on a 9*6 APC-E<br />
* Has flown in winds up to 10m/s<br />
* Up to 30mins endurance in less than ideal conditions<br />
<br />
== Misc Notes ==<br />
<br />
I intend to add lots of information here by and by!</div>UttaminAUTO2http://wiki.paparazziuav.org/w/index.php?title=Telemaster&diff=3851Telemaster2008-06-28T03:50:40Z<p>UttaminAUTO2: /* Specifications */</p>
<hr />
<div>[http://www.recherche.enac.fr/paparazzi/wiki/index.php/Airframes <<] Back to Airframes<br />
<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:Telemasteruphigh.jpg|thumb|left|Mini Telemaster]]<br />
|<br />
This is a self built airframe. Built from plans. The Telemaster was choosen for it's excelent flying characteristics, to help make it easier to get used to the amazing Paparazzi system. If you are new to the system, a stable plane to start with is a must. Tuning and flying this plane is largely due to the lovely ENAC time and other active Paparazzi users. A special thanks to Pascal for having infinite patience to take time and answer all my questions! <br />
|}<br />
<br />
== Features ==<br />
<br />
* All Depron, Styrofoam and Fiberglass<br />
* 4 Channel trainer<br />
* Super strong Carbon Fiber wing spar for added payloads<br />
* Overpowered setup giving ample room to add additional sensors and payloads<br />
<br />
== Specifications ==<br />
<br />
* 42" Span<br />
* 620gms AUW<br />
* Tiny 2.11 ( ~21.5gms )<br />
* Approx. Wing area ~2 sq. ft.<br />
* ~160W power setup on a 9*6 APC-E<br />
* Has flown in winds up to 10m/s<br />
* Up to 30mins endurance in less than ideal conditions</div>UttaminAUTO2http://wiki.paparazziuav.org/w/index.php?title=Telemaster&diff=3850Telemaster2008-06-28T03:48:53Z<p>UttaminAUTO2: /* Specifications */</p>
<hr />
<div>[http://www.recherche.enac.fr/paparazzi/wiki/index.php/Airframes <<] Back to Airframes<br />
<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:Telemasteruphigh.jpg|thumb|left|Mini Telemaster]]<br />
|<br />
This is a self built airframe. Built from plans. The Telemaster was choosen for it's excelent flying characteristics, to help make it easier to get used to the amazing Paparazzi system. If you are new to the system, a stable plane to start with is a must. Tuning and flying this plane is largely due to the lovely ENAC time and other active Paparazzi users. A special thanks to Pascal for having infinite patience to take time and answer all my questions! <br />
|}<br />
<br />
== Features ==<br />
<br />
* All Depron, Styrofoam and Fiberglass<br />
* 4 Channel trainer<br />
* Super strong Carbon Fiber wing spar for added payloads<br />
* Overpowered setup giving ample room to add additional sensors and payloads<br />
<br />
== Specifications ==<br />
<br />
* 42" Span<br />
* 620gms AUW<br />
* Tiny 2.11 ( ~21.5gms )<br />
* Approx. Wing area ~2 sq. ft.<br />
* ~160W power setup on a 9*6 APC-E<br />
* Has flown in winds up to 10m/s</div>UttaminAUTO2http://wiki.paparazziuav.org/w/index.php?title=Telemaster&diff=3849Telemaster2008-06-28T03:47:28Z<p>UttaminAUTO2: </p>
<hr />
<div>[http://www.recherche.enac.fr/paparazzi/wiki/index.php/Airframes <<] Back to Airframes<br />
<br />
<br />
{|<br />
|-valign="top"<br />
|[[Image:Telemasteruphigh.jpg|thumb|left|Mini Telemaster]]<br />
|<br />
This is a self built airframe. Built from plans. The Telemaster was choosen for it's excelent flying characteristics, to help make it easier to get used to the amazing Paparazzi system. If you are new to the system, a stable plane to start with is a must. Tuning and flying this plane is largely due to the lovely ENAC time and other active Paparazzi users. A special thanks to Pascal for having infinite patience to take time and answer all my questions! <br />
|}<br />
<br />
== Features ==<br />
<br />
* All Depron, Styrofoam and Fiberglass<br />
* 4 Channel trainer<br />
* Super strong Carbon Fiber wing spar for added payloads<br />
* Overpowered setup giving ample room to add additional sensors and payloads<br />
<br />
== Specifications ==<br />
<br />
* 42" Span<br />
* 620gms AUW<br />
* Tiny 2.11 ( ~21.5gms )<br />
* Approx. Wing area ~2 sq. ft.<br />
* ~160W power setup on a 9*6 APC-E</div>UttaminAUTO2http://wiki.paparazziuav.org/w/index.php?title=File:Telemasteruphigh.jpg&diff=3848File:Telemasteruphigh.jpg2008-06-28T03:36:20Z<p>UttaminAUTO2: </p>
<hr />
<div></div>UttaminAUTO2http://wiki.paparazziuav.org/w/index.php?title=Airframes&diff=3847Airframes2008-06-28T03:28:18Z<p>UttaminAUTO2: </p>
<hr />
<div>== NoVa Quadrotor ==<br />
{|<br />
|-valign="top"<br />
|[[Image:NoVa1.jpg|thumb|left|Nova Quadrotor]]<br />
|<br />
The [[NoVa|NoVa]] is an attitude stabilized quadrotor. It utilizes paparazzi hardware as well as a 6DOF IMU. <br />
<br />
'''[[NoVa|More details...]]'''<br />
|}<br />
<br />
== Multiplex FunJet ==<br />
{|<br />
|-valign="top"<br />
|[[Image:Funjet_flight_dawnron1.jpg|thumb|left|Multiplex FunJet]]<br />
|<br />
The [[FunJet|FunJet]] is a new electric pusher-prop model from Multiplex made of durable and CA safe Elapor foam. It offers plenty of room internally for avionics in an attractive package. <br />
<br />
'''[[FunJet|More details...]]'''<br />
|}<br />
<br />
== Mini Telemaster ==<br />
{|<br />
|-valign="top"<br />
|[[Image:Paparazzitelema1.jpg|thumb|left|Telemaster]]<br />
|<br />
The [[Telemaster|Telemaster]] is a great platform for a new Paparazzi user. It provides a stable platform to help a new user to get used to the amazing Paparazzi system<br />
<br />
'''[[Telemaster|More details...]]'''<br />
|}<br />
<br />
<br />
== Misc Airframe Notes ==<br />
<br />
[http://www.motocalc.com MotoCalc] is an Electric Flight Performance Prediction program for Windows and is available for a 30 day free trial. MotoCalc has an internal database of thousands of motors/props/etc. and can make power/flight predictions based on data input.<br />
<br />
[http://brantuas.com/ezcalc/dma1.asp Electric Motor Calculator] by Diversity Model Aircraft is a free online tool for matching props to motors to batteries.<br />
<br />
[http://www.gobrushless.com/testing/thrust_calculator.php?prop=45&rb1=1&Value=9720&submit=Calculate+Now Propeller Thrust Calculator] is a free online calculator to give thrust from given propeller and RPM or vice versa.<br />
<br />
=== Battery Specs ===<br />
<br />
'''Nickel Cadmium (NiCd)'''<br />
<br />
* Energy/Weight: 40-60 Wh/kg<br />
* Nominal Cell Voltage: 1.2V<br />
* Fully Charged Cell Voltage: 1.2V<br />
* Depleted Cell Voltage: 0.8-1.0V<br />
<br />
'''Nickel Metal Hydride (NiMh)'''<br />
<br />
* Energy/Weight: 30-80 Wh/kg<br />
* Nominal Cell Voltage: 1.2V<br />
* Fully Charged Cell Voltage: 1.35-1.4 V (unloaded)<br />
* Depleted Cell Voltage: 1.0V<br />
<br />
'''Lithium-Ion'''<br />
<br />
* Energy/weight: 160 Wh/kg<br />
* Nominal Cell Voltage: 3.6 / 3.7 V<br />
* Fully Charged Cell Voltage: 4.2V<br />
* Lowest Cell Discharge Voltage Before Damage: 2.4v to 3.0v<br />
<br />
'''Lithium-Ion Polymer (LiPo)'''<br />
<br />
* Energy/weight: 130-200 Wh/kg<br />
* Nominal Cell Voltage: 3.7V<br />
* Fully Charged Cell Voltage: 4.23V<br />
* Lowest Cell Discharge Voltage Before Damage: 3.0V<br />
<br />
'''Typical Power Requirements'''<br />
<br />
* 70W/kg (35W/lb) for sedate flying from hand launch<br />
* 100W/kg (50W/lb) for ground take off<br />
* 150W/kg (75W/lb) for performance / aerobatics<br />
<br />
== Mass Figures ==<br />
<br />
Provided below are some weights to aid in estimating an all up weight for your uav<br />
<br />
* Tiny13 1.1 Weight: 25g (0.88oz)<br />
* IR Sensor Head: 5g (0.18oz)<br />
* XBee Pro: 4g (0.14oz)<br />
* Hitec HS-55 Servo: 8g (0.28)<br />
* Brushless Outrunner 250W: ~90g (~3oz)<br />
* FunJet assembled, no hardware: 165g (5.82oz)<br />
* FMA Encore 5ch Receiver: 11g (0.40oz)<br />
* Castle Creations Phoenix 35: 24.5g (0.9oz)</div>UttaminAUTO2http://wiki.paparazziuav.org/w/index.php?title=Gallery&diff=3846Gallery2008-06-28T03:10:42Z<p>UttaminAUTO2: /* User's Gallery */</p>
<hr />
<div>== User's Gallery ==<br />
=== User's Gallery ===<br />
{|<br />
|-valign="top"<br />
|<br />
<gallery caption="Paparazzi Aircraft"><br />
Image:early_twinstar.jpg|<b>Early Twinstar</b><br>Antoine Drouin and Pascal Brisset<br />
Image:glotzer.jpg|<b>Glotzer</b><br>Martin Mueller and Christian Lindenberg<br />
Image:Dragonfly_0626.jpg|<b>Dragonfly</b><br>University of Arizona<br>Span 30cm, mass 220g<br />
Image:DragonSlayer_0948sm.jpg|<b>Dragon Slayer</b><br>Miraterre Flight Systems<br>Span 33cm, mass 300g<br />
Image:Twinstar_2_Twinjet_night.JPG|<b>Night-equipped Twinstar and Twinjet</b><br>Antoine Drouin and Pascal Brisset<br />
Image:Orange_One_0999.jpg|<b>M.A.C. Orange One</b><br>Martin Mueller and Christian Lindenberg<br />
Image:slayer_twinstar_ii.jpg|<b>Slayer and Twinstar</b><br>The Twinstar performs an autonomous aerial launch of the Slayer<br />
Image:Sephiroth_Pre-Paparazzi.jpg|<b>Sephiroth</b><br>P-51 Mustang, off-board video processing for horizon-based stabilization<br />
Image:Triple-X.JPG|<b>Triple-X Prototype</b><br>Miraterre Flight Systems<br>Span 90cm, mass 1400g<br />
Image:Cybereye.jpg|<b>CyberEye</b><br>Miraterre Flight Systems<br>Span 130cm, mass 2kg<br />
Image:osamuavs.jpg|<b>Two Zagi's, and Aggiebird</b><br>Wing Spans 48", 60", and 100"<br> OSAM-UAV Team <br />
Image:NoVa1.jpg|<b>NoVa Quadrotor</b><br>AJ Kochevar<br> Attitude Stabilized quadrotor using Tiny 2.0 <br />
Image:nirvana.jpg|<b>Nirvana</b><br>The 3 Minimag used at the LAAS-CNRS Laboratory<br />
Image:PPZFJ01.JPG | <b>FJ1</b><br>The PPZUAV project aircraft and demo<br />
Image:Paparazzitelema1.jpg | <b>Telemaster</b><br> Autonomous platform to get used to the system<br />
</gallery><br />
|<br />
<br />
|}<br />
<br />
== Flight competitions ==<br />
=== [http://www.nal.res.in/MAV08/ MAV08] ===<br />
; Agra, India, (March 10th -- 15th, 2008)<br />
Best Mission Performance:<br />
* [http://www.asctec.de/ Ascending Technologies GmbH] Hornet hexa-rotor (MIT) <br />
* Paparazzi Slicer (ENAC)<br />
* Paparazzi Glass One(s) (Martin Mueller Engineering)<br />
* Paparazzi Dragonfly (University of Arizona)<br />
<br />
Best Hover Performance/Rotorcraft:<br />
* [http://www.asctec.de/ Ascending Technologies GmbH] Hornet hexa-rotor (MIT)<br />
* Indian Institute of Technology, Bombay (IITB)<br />
<br />
Best Autonomous Micro Air Vehicle:<br />
* Paparazzi Slicer (ENAC)<br />
<br />
Best Exotic Design Micro Air Vehicle:<br />
* Paparazzi Dragonfly (University of Arizona)<br />
<br />
Best UGV Performance:<br />
* [http://cmr.mech.unsw.edu.au/mavstar/ MAVSTAR] (UNSW)<br />
<br />
{|<br />
|-valign="top"<br />
|<br />
<gallery caption="MAV08, Agra, India"><br />
Image:Slicer.jpg|<b>Slicer</b><br>ENAC<br />
Image:Glassone.jpg|<b>Glass One</b><br><br />
Image:MAVSTAR.jpg|<b>MAVSTAR</b><br><br />
</gallery><br />
|}<br />
<br />
=== MAV07 ===<br />
; Toulouse, France, (September 19th - 22nd, 2007)<br />
* 1st place (shared): Paparazzi ''Dragon Slayer''<br />
* 1st place (shared): Micropilot ''Ping Wing''<br />
* 3rd place : Paparazzi ''Tyto'' (Supaero)<br />
* 4th place : Paparazzi ''MAC 07'' (Martin Mueller Engineering)<br />
* 5th place : Paparazzi ''Storm1'' (Murat Bronz)<br />
{|<br />
|-valign="top"<br />
|<br />
<gallery caption="MAV07, Toulouse"><br />
Image:Slayer-105416sm.jpg|<b>Dragon Slayer</b><br>Miraterre Flight Systems<br />
Image:Twisted_1413sm.jpg|<b>Twisted Logic</b><br>Miraterre Flight Systems<br />
Image:Storm1.jpg|<b>Storm1</b><br>Murat BRONZ<br />
Image:Pingwing.jpg|<b>Ping Wing</b><br>Sweden<br />
Image:Tyto.jpg|<b>Tyto</b><br>Supaero<br />
Image:Redone.jpg|<b>Red One/MAC 07</b><br><br />
</gallery><br />
|}<br />
<br />
=== MAV06 ===<br />
; Sandestin, Florida, USA (October 29th - November 2nd, 2006)<br />
* 1st place : Procerus Kestrel (Bringham Young University)<br />
* 2nd place : Paparazzi ''Dualing Slayers'' (ENAC / Miraterre)<br />
* 3rd place : Paparazzi ''Black One'' ("fake" Martin Mueller Engineering)<br />
{|<br />
|-valign="top"<br />
|<br />
<gallery caption="MAV06, Florida"><br />
Image:MAC-OrangeOne-MAV06.jpg|<b>Orange One</b><br>Martin Mueller and Christian Lindenberg<br />
Image:MAC-BlackOne-MAV06.jpg|<b>Black One</b><br>Martin Mueller and Christian Lindenberg<br />
Image:ENAC-Planning-MAV06.jpg|<b>ENAC Team</b><br />
Image:Slayers-MAV06.jpg|<b>Dragon Slayers</b><br>Slayers acquiring GPS fix<br><br />
Image:Michel_vs_Slayer-MAV06.jpg|<b>Catch!</b><br>Michel bravely catching the Slayer in an autonomous landing<br><br />
Image:BYU-MAV06.jpg|<b>BYU's Winning Design</b><br>BYU used the Procerus Kestrel autopilot<br><br />
</gallery><br />
|}<br />
<br />
=== EMAV2006 ===<br />
; Braunschweig, Niedersachsen, Germany (25-26 July 2006)<br />
* 1st place : Paparazzi ''DragonSlayer/BlackOne/Microjet''<br />
* 2nd place : Paparazzi ''JeanMav360''<br />
<br />
{|<br />
|-valign="top"<br />
|<br />
[[Image:emav2006_paparazzies.jpg|thumb|left|EMAV06 Paparazzi Team]]<br />
<br style="clear:both"><br />
|}<br />
<br />
=== MAV05 ===<br />
; Garmisch-Partenkirchen, Bavaria, Germany (17-23 September 2005)<br />
* 1st place : Paparazzi ''Dragonfly''<br />
* 2nd place : Paparazzi ''Glotzer''<br />
* 3rd place : Paparazzi ''Plaster''<br />
* 4th place : Paparazzi ''Plaster duo''<br />
<br />
{|<br />
|-valign="top"<br />
|<br />
<gallery caption="MAV05, Germany"<br />
Image:MAV05_paparazzies.jpg|<b>The Paparazzi teams in Garmisch</b><br />
Image:mav05_dragonfly.jpg|<b>Dragonfly</b><br>''University of Arizona''<br />
Image:mav05_depronazzi.jpg|<b>Glotzer</b><br>''Martin Mueller and Christian Lindenberg''<br />
Image:mav05_ladybug.jpg|<b>Ladybug</b><br>''ENAC''<br />
Image:mav05_enac.jpg|<b>ENAC Team</b><br />
</gallery><br />
|}<br />
<br />
=== 4eme Journées microdrones ===<br />
; Toulouse, France ( 15 septembre 2004)<br />
* 1st place : Paparazzi ''Microjet''<br />
<br />
{|<br />
|-valign="top"<br />
| [[Image:Paparazzi_Equiped_Aircraft.jpg|thumb|left|Microjet]] <br style="clear:both"><br />
|}<br />
<br />
=== EMAV2004 ===<br />
; Braunschweig, Niedersachsen, Germany (13 July 2004)<br />
* 1st place : Paparazzi ''Microjet''<br />
<br />
{|<br />
|-valign="top"<br />
|<br />
<gallery caption="EMAV2004"><br />
Image:emav04_01.jpg|<b>The Paparazzi team</b><br />
Image:emav04_02.jpg|<b>Spectators</b><br />
Image:emav04_03.jpg|<b>Automatic tracking antenna</b><br />
</gallery><br />
|}<br />
<br />
=== EMAV2003 ===<br />
; Toulouse, France ( 3 october 2003)<br />
* 1st place : Paparazzi ''Twinstar''<br />
<br />
{|-valign="top"<br />
|<br />
<gallery caption="EMAV2003"><br />
Image:emav03_01.jpg|<b>Twinstar ready for flight</b><br />
Image:emav03_02.jpg|<b>Paparazzi team</b><br />
</gallery><br />
|<br />
|}<br />
<br />
== Scientific campaigns ==<br />
<br />
=== FLOHOF 2007 ===<br />
; Around the Hofsjökull glacier, Iceland, (August 2007)<br />
{|<br />
|-valign="top"<br />
|<br />
<gallery caption="FLOHOF 2007, Iceland"><br />
Image:Kerlingafjoll.jpg|Flying southwest of the glacier<br />
Image:High_alt.png|Climb slope<br />
</gallery><br />
|}<br />
<br />
=== THORPEX/Svalbard 2008 ===<br />
; On and around Svalbard, Arctic Sea, (February 25th - March 15th, 2008)<br />
{|<br />
|-valign="top"<br />
|<br />
<gallery caption="THORPEX 2008, Svalbard"><br />
Image:Kv_svalbard_ice.jpg|KV Svalbard<br />
Image:Hangar.jpg|The KV Svalbard hangar<br />
Image:Funjet_spitsbergen.jpg|Flying over the icy sea near Spitsbergen<br />
Image:Waves.jpg|Waves in rough sea<br />
Image:Breaking_ice.jpg|Breaking the ice<br />
Image:Longyearbyen.jpg|Preparing the aircraft<br />
Image:Landing_spitsbergen.jpg|Landing near Longyearbyen<br />
</gallery><br />
|}</div>UttaminAUTO2http://wiki.paparazziuav.org/w/index.php?title=File:Paparazzitelema1.jpg&diff=3845File:Paparazzitelema1.jpg2008-06-28T03:08:49Z<p>UttaminAUTO2: </p>
<hr />
<div></div>UttaminAUTO2http://wiki.paparazziuav.org/w/index.php?title=File:Paparazzitelemaster1.jpg&diff=3844File:Paparazzitelemaster1.jpg2008-06-28T03:05:08Z<p>UttaminAUTO2: Telemaster with Tiny 2.11</p>
<hr />
<div>Telemaster with Tiny 2.11</div>UttaminAUTO2http://wiki.paparazziuav.org/w/index.php?title=File:Paparazzitelemaster1thumb.jpg&diff=3843File:Paparazzitelemaster1thumb.jpg2008-06-28T02:59:13Z<p>UttaminAUTO2: Telemaster with Tiny 2.11</p>
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<div>Telemaster with Tiny 2.11</div>UttaminAUTO2