Booz

Overview

Booz is an extension of Paparazzi to VTOLs. At the current stage of the project, the system provides attitude stabilization, vertical guidance and automatic navigation. It is able to use simple Paparazzi flight plans ( only go instructions ) and uses Paparazzi telemetry and datalink, which means all the Paparazzi ground segment applications are available( plotter, settings, gcs, etc...)

The current avionics consist of 3 boards

• The main board, comprising power supply, a LPC2148 and a barometer.
• The IMU board, comprising gyroscopes, accelerometers, magnetometers and a 16-bit ADC.
• The GPS board, using a LEA-5H by ublox.

Additional Booz boards:

• The "power" board.

It flies on a variety of Quad-rotor platforms

and less common vehicles

Simulator

Booz features a simulator which can serve many purposes, from learning how to operate a vehicle to evaluating control or estimation algorithms.

more info in BoozSimulator

Hardware

Motor controllers

Booz is able to handle a number of quadrotor specific brushless motor controllers.

more info in BoozMotorControllers

Power board

The power board allows to switch power on and off on your vehicle as well as to make a clean wiring by avoiding wired Y

more info in BoozPowerBoard

IMU

Booz has support for its custom designed IMU as well as for Cloudcap Crista IMU

more info in BoozIMU

GPS

The GPS receiver board is needed in order to be able to perform automatic navigation

more info in BoozGPS

Autopilot

Current version of Booz autopilot is based on a lpc2148

more info in BoozAutopilot

A new version of the autopilot, based on a STM32 is in development

more info in Lisa

Airframes

One nice thing about quadrotors is that the mechanics being extremely simple, they can be build with very few tools. Booz mounting holes are compatible with popular of the shelf frames.

more info in BoozAirframes

Purchasing Hardware

There are now vendors offering Booz hardware, Please see the Get Hardware page for details.

Hardware Test

Booz comes with a number of simple test programs that you can use to validate a newly assembled board or learn how booz code works in case you want to extend it.

more info in BoozHardwareTest

Sensors Calibration

All the sensors needs to be calibrated in order to provide useful informations. The calibration process needs to be performed after the assembly of the vehicle is complete.

more info in BoozSensorsCalibration

GCS notes

• If you set your ground modems for an interface rate different than 9600bps you need to add a flag to the "link" program on startup. In GCS if you use "Execute" you will see "link" is the first. You can click stop, then modify the command line by clicking in the text area. Add the -s flag with the baud rate you use. In my case 57600. So I use: -s 57600. Then click "Redo" and link will be restarted with the new flag and value (and you will start seeing messages and GCS wil populate).

User Gallery

This page holds a list of current Booz users

BoozUserList