PaparazziUAV - User contributions [en]

Booz

2012-03-17T17:00:21Z

AntonK: /* Sensors Calibration */

<div style="float: right; width: 30%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div>
<div style="float: right; width: 40%">[[Image:booz_logo.jpg|480px|right]]</div>
== Overview ==
Booz is an extension of Paparazzi to VTOLs. At the current stage of the project, the system provides attitude stabilization, vertical and horizontal guidance and automatic navigation. It is able to use Paparazzi flight plans 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
[[Image:booz2_main.jpg|240px]]
[[Image:booz2_imu.jpg|240px]]
[[Image:Boozassy2.jpg|300px]]

* 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:
[[Image:Med_BoozPower03.jpg|240px]]
* The "power" board.

It flies on a variety of Quad-rotor platforms

[[Image:small_quad.jpg|240px]]
[[Image:booz2_a2.jpg|240px]]
[[Image:booz2_a1.jpg|240px]]

and less common vehicles

[[Image:booz2_a4.jpg|240px]]
[[Image:booz2_a4 2.jpg|240px]]
[[Image:booz2_a5.jpg|240px]]

== 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]]

=== Booz GPS ===
more info in [[BoozGPSBoard]]

=== IMU ===
Booz has support for its custom designed IMU as well as for [http://www.cloudcaptech.com/ Cloudcap] Crista IMU

more info in [[BoozIMU]]

=== 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 [http://paparazzi.enac.fr/wiki/Get_Hardware 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]]

== Software ==

=== Peripheral support ===

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Type #''!!''Model''!!''Booz''!!''Lisa/L''
|-
|IMU ||Boozv1 ||yes||yes
|-
| ||crista ||yes||yes
|-
| ||mti || ? ||no
|-
| ||vn100 ||? ||no
|-
|RC ||PPM ||yes||no
|-
| ||spektrum ||yes||yes
|-
|Actuators ||asctec ||yes||yes
|-
| ||mkk ||yes||yes
|-
| ||servospwm|| 2 || 6
|-
| ||CAN ||no || in progress
|-
|}

== 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.

**Note: The barometer on the Booz Main board is designed to work between -300 to 928 meters MSL. In this range it will create a zero offset, and then give 10cm resolution for 100 meters of altitude. BEWARE! if you fly above 100m the ADC will saturate. In addition, if you are someplace that is above 928 meters MSL the baro will not calibrate on boot, and will not output values. If you look at the RAW messages you will see that the BARO_RAW message reads 0 for both values. To fix the latter issue, the Value of R20 on the Main board can be changed to change the range. An example: If R20 is changes from a 560ohm to a 100ohm resistor, the new measurable range would be from -300 to 1800 meters. Because this changes the gain on the sensor it will also change the amount of altitude you can read from the ADC. For this case we reduce the amount to ~90 meters.

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). So you don't have to repeat this each time do "Save Session" and this will save the changes.

== Airframe settings and Flight testing ==
* [[BoozAirframe]]

== User Gallery ==

This page holds a list of current Booz users

[[BoozUserList]]

[[Category:Autopilots]] [[Category:Booz]]

Wall of Record

2011-06-11T04:26:47Z

AntonK: /* David Conger begin_of_the_skype_highlighting end_of_the_skype_highlighting */

__TOC__

= Universities =

== ENAC ==

Teamed with Martin Mueller, ENAC developed adaptive control algorithms and tested them on the Twinstar aircraft. This video shows a flight test where a wing panel section was separated from the vehicle during autonomous flight.

http://www.youtube.com/watch?v=TFrognLZ2Ak

A video of Antoine Drouin's adaptive control logic demonstrated on his quadrotor, assisted by Martin Mueller.

http://www.youtube.com/watch?v=N0H9xWckeYQ

== Utah State University ==

This video shows the USU OSAM team performing a flight with 2 vehicles. The vehicles are using the follow command with paparazzi where the follower AC is chasing the leader. Tough to see in the video, but a great accomplishment

http://www.youtube.com/watch?v=niaaaK0oRUI

Another great video of USU OSAM using the leader-follower algorithms with paparazzi. 2 flying wings circling.

http://www.youtube.com/watch?v=_sSR5GoJ4y8

Check out the rest of their videos on their YouTube channel here

http://www.youtube.com/user/USUOSAM#p/u

== Colorado State University ==

A video of their man packable UAV. Give these guys a medal for sticking with it after a crash(see there Youtube channel for the gruesome details.

http://www.youtube.com/watch?v=-mbEqAVP2-E

= Individual Contributors =

== Martin Mueller ==

Martin has been doing amazing things with Paparazzi since 2004. A few short videos here showing some of the great things he has accomplished through the years. See his YouTube channel for more goodies here

http://www.youtube.com/user/pfumpmm

Long onboard video taken from a funjet climbing to 1500m in the Arctic Circle! AMAZING!

http://www.youtube.com/watch?v=M1k_TLcQ2ic

A video of Christian landing their funjet on the deck of a ship, this guy has skills.

http://www.youtube.com/watch?v=Ox1ThuHDxoM

Short video outlining a fully autonomous flight they did from a bungee launcher

http://www.youtube.com/watch?v=HAEibDOEF1Y

== A.J. Kochevar ==

A.J has been focusing mostly on quadrotors in recent years. You can see his adventures in his back yard at his YouTube channel here

http://www.youtube.com/user/NoVaQuadrotors

A fully autonomous flight using a Booz Hardware suit, Paparazzi rotorcraft code, and a custom NoVa quadrotor frame. The winds were well over 10MPH during this flight.

http://www.youtube.com/watch?v=4jTSiuPWMHo

First flight of the NoVa XL quadrotor frame he makes. Avionics are Lisa/L. This flight was out of the box, no gains were tuned from the rotorcraft default.

http://www.youtube.com/watch?v=3YTnj5vhyWI

== David Conger ==

David's dedication has given the Paparazzi community a source of hardware. You can follow his YouTube channel here

http://www.youtube.com/user/ppzuav

A short video of David flying a small Swift wing using paparazzi. Great setup

http://www.youtube.com/watch?v=fljaSyM-Ewg

A great video showing some early rotorcraft code on a Booz equipped quadrotor. Notice the wind!

http://www.youtube.com/watch?v=rpcfw7IumPs

== Christophe De Wagter ==

Christophe has been hard at work integrating IMUs into the paparazzi fixed wing software. When he is not doing that he is designing simple to build electronics that are compatible with Paparazzi, like the YAPA2 and the YAI!

These videos we will group together, but they all show different IMUs being interfaced to a paparazzi board, and to the flight code.

I2C only ASPIRIN IMU on an LPC2148 based autopilot(not this is only running 100Hz)

http://www.youtube.com/watch?v=WEvNgmReT68

PPZUAV IMU on LPC2148 based autopilot (Christophe will this work with the STM32 products?)

http://www.youtube.com/watch?v=OaMTyJ-s-PU

CHIMU both SPI and UART

http://www.youtube.com/watch?v=Wvs9SCiK-g8
http://www.youtube.com/watch?v=WoXsNnRBXNQ

XSENS IMU on LPC2148 based autopilot

http://www.youtube.com/watch?v=_JOgOLuDQXY

= Industry Contributors =

== Joby Robotics ==

A flight test of Joby's Lisa/L autopilot and Aspirin IMU all running the Paparazzi rotorcraft code

http://www.youtube.com/watch?v=k1_iPCJLuwA

One of the first iterations of Joby's VTOL transitional aircraft. Yes before you ask, this plane really does fly on code that is in the repository.

http://www.youtube.com/watch?v=LWTi2Dgh0Fw

The newer version called Synerani. Beautiful design and amazing performance, and again, all open source software!

http://www.youtube.com/watch?v=DrN7lqmAR4g

= Whats Next!?!?! =

This page is a living document to be edited and updated as people make remarkable accomplishments with Paparazzi. If you do something remarkable, take a video and post it here! Videos have been missed so please fill in the blanks!

Wall of Record

2011-06-11T04:25:59Z

AntonK:

__TOC__

= Universities =

== ENAC ==

Teamed with Martin Mueller, ENAC developed adaptive control algorithms and tested them on the Twinstar aircraft. This video shows a flight test where a wing panel section was separated from the vehicle during autonomous flight.

http://www.youtube.com/watch?v=TFrognLZ2Ak

A video of Antoine Drouin's adaptive control logic demonstrated on his quadrotor, assisted by Martin Mueller.

http://www.youtube.com/watch?v=N0H9xWckeYQ

== Utah State University ==

This video shows the USU OSAM team performing a flight with 2 vehicles. The vehicles are using the follow command with paparazzi where the follower AC is chasing the leader. Tough to see in the video, but a great accomplishment

http://www.youtube.com/watch?v=niaaaK0oRUI

Another great video of USU OSAM using the leader-follower algorithms with paparazzi. 2 flying wings circling.

http://www.youtube.com/watch?v=_sSR5GoJ4y8

Check out the rest of their videos on their YouTube channel here

http://www.youtube.com/user/USUOSAM#p/u

== Colorado State University ==

A video of their man packable UAV. Give these guys a medal for sticking with it after a crash(see there Youtube channel for the gruesome details.

http://www.youtube.com/watch?v=-mbEqAVP2-E

= Individual Contributors =

== Martin Mueller ==

Martin has been doing amazing things with Paparazzi since 2004. A few short videos here showing some of the great things he has accomplished through the years. See his YouTube channel for more goodies here

http://www.youtube.com/user/pfumpmm

Long onboard video taken from a funjet climbing to 1500m in the Arctic Circle! AMAZING!

http://www.youtube.com/watch?v=M1k_TLcQ2ic

A video of Christian landing their funjet on the deck of a ship, this guy has skills.

http://www.youtube.com/watch?v=Ox1ThuHDxoM

Short video outlining a fully autonomous flight they did from a bungee launcher

http://www.youtube.com/watch?v=HAEibDOEF1Y

== A.J. Kochevar ==

A.J has been focusing mostly on quadrotors in recent years. You can see his adventures in his back yard at his YouTube channel here

http://www.youtube.com/user/NoVaQuadrotors

A fully autonomous flight using a Booz Hardware suit, Paparazzi rotorcraft code, and a custom NoVa quadrotor frame. The winds were well over 10MPH during this flight.

http://www.youtube.com/watch?v=4jTSiuPWMHo

First flight of the NoVa XL quadrotor frame he makes. Avionics are Lisa/L. This flight was out of the box, no gains were tuned from the rotorcraft default.

http://www.youtube.com/watch?v=3YTnj5vhyWI

== David Conger begin_of_the_skype_highlighting end_of_the_skype_highlighting ==

David's dedication has given the Paparazzi community a source of hardware. You can follow his YouTube channel here

http://www.youtube.com/user/ppzuav

A short video of David flying a small Swift wing using paparazzi. Great setup

http://www.youtube.com/watch?v=fljaSyM-Ewg

A great video showing some early rotorcraft code on a Booz equipped quadrotor. Notice the wind!

http://www.youtube.com/watch?v=rpcfw7IumPs

== Christophe De Wagter ==

Christophe has been hard at work integrating IMUs into the paparazzi fixed wing software. When he is not doing that he is designing simple to build electronics that are compatible with Paparazzi, like the YAPA2 and the YAI!

These videos we will group together, but they all show different IMUs being interfaced to a paparazzi board, and to the flight code.

I2C only ASPIRIN IMU on an LPC2148 based autopilot(not this is only running 100Hz)

http://www.youtube.com/watch?v=WEvNgmReT68

PPZUAV IMU on LPC2148 based autopilot (Christophe will this work with the STM32 products?)

http://www.youtube.com/watch?v=OaMTyJ-s-PU

CHIMU both SPI and UART

http://www.youtube.com/watch?v=Wvs9SCiK-g8
http://www.youtube.com/watch?v=WoXsNnRBXNQ

XSENS IMU on LPC2148 based autopilot

http://www.youtube.com/watch?v=_JOgOLuDQXY

= Industry Contributors =

== Joby Robotics ==

A flight test of Joby's Lisa/L autopilot and Aspirin IMU all running the Paparazzi rotorcraft code

http://www.youtube.com/watch?v=k1_iPCJLuwA

One of the first iterations of Joby's VTOL transitional aircraft. Yes before you ask, this plane really does fly on code that is in the repository.

http://www.youtube.com/watch?v=LWTi2Dgh0Fw

The newer version called Synerani. Beautiful design and amazing performance, and again, all open source software!

http://www.youtube.com/watch?v=DrN7lqmAR4g

= Whats Next!?!?! =

This page is a living document to be edited and updated as people make remarkable accomplishments with Paparazzi. If you do something remarkable, take a video and post it here! Videos have been missed so please fill in the blanks!

Hecto

2010-05-26T01:44:46Z

AntonK:

[http://www.ladepeche.fr/article/2010/05/24/841327-Pyrenees-mort-et-prisonnier-des-glaces.html Newspaper article]

Pascal is the father of the Paparazzi project. He was the wizard of the computers, a talented "Alpiniste" and a great human being.

{|
|-
|[[Image:PolarBear.jpg|thumbnail|600px]]
|[[Image:Pascal3.jpg|thumbnail|600px]]
|-
|[[Image:PascalTPS.jpg|thumbnail|600px]]
|[[Image:Pascal4.jpg|thumbnail|600px]]
|}

'''Translation of "La Dépêche" article from 2010/05/24'''

'''Pyrenees : dead and ice-bound'''

[[Image:vignemale.jpg|thumbnail|left]]A 43 year old Toulouse resident, Pascal Brisset, fell to his death on Saturday afternoon into a crevasse from the north face of the Vignemale Glacier, in the Hautes-Pyrenees.

A member of the Toulouse French Alpine Club, Pascal Brisset was participating in a glacier safety camp. With his fellow climbers he planned to stay overnight at the refuge "Les Oulettes de Gaube". The accident took place on Saturday afternoon around 15:00. A snow bridge collapsed under Pascal's weight. The climber's harness was not attached at the moment and he fell into the newly revealed crevasse.

The rescue team from Pierrefitte-Nestalas arrived on scene shortly after by helicopter.

The body of the climber was located 30 meters deep. The crevasse was only one meter large at the top and narrowed down to 20 centimeters.

The rescue team worked all Saturday afternoon and came back on Sunday morning trying to free the body. A very difficult task due to the narrow crevasse, and the fact that the body was already ice-bound. The rescue team tried everything including a jackhammer to break the ice gangue. The effort ceased at noon on Sunday due to the high risk of rock falls and a hazardous snow. "we had to quit working" said, yesterday, a member of the rescue team, disappointed.

Pascal Brisset will remain a prisoner of his ice coffin for now. In motion, the Vignemale Glacier should give the body back in a few months or years.

From "La dépêche" 4/05/2010 08:43

[[Image:Ricou2003.jpg|frameless|border|right|middle|400px]]
[[Image:Ricou2005.jpg|frameless|border|right|middle|400px]]
[[Image:Pascal5.jpg|frameless|border|right|middle|400px]]
[[Image:PascalBook.gif|frameless|border|right|middle|400px]]
[[Image:PascalTruck.jpg|frameless|border|right|middle|400px]]
[[Image:PascalTruck2.jpg|frameless|border|right|middle|400px]]
[[Image:Sante.jpg|frameless|border|right|middle|400px]]
[[Image:PascalUttam.jpg|frameless|border|right|middle|400px]]
[[Image:PascalIndia.jpg|frameless|border|right|middle|400px]]
[[Image:La08.jpg|frameless|border|right|middle|400px]]
[[Image:Pascal6.jpg|frameless|border|right|middle|400px]]
[[Image:Pascal7.jpg|frameless|border|right|middle|400px]]
[[Image:Pascal8.jpg|frameless|border|right|middle|400px]]

---

Pascal, your work, your project has changed my life. To fly an autonmous plane was only a dream and it came true. It was a great pleasure to meet you at all the interesting places that this project brought us to, work together and have all the talks and chats. Will miss you and all that a lot
 - Martin (Germany)

---

Looks like it's going to be hard not to repeat what Martin said above, so.... Thank you for the ride and I'll miss you. I'm not sure how we're going to keep this thing afloat without you, but don't worry, we'll find a way
 - Poine (France)

---

Pascal, we thank you for everything you teached us. We will never forget the feeling of our first night flights in Toulouse!
 - The TU Delft MAVlab Team (Netherlands)

---

Pascal i will light a candle for you. I really cannot find any words to describe the magnitude of your
contribution not only to the Paparazzi project but also to the spirit of sharing Knowledge for free.
Good Bye my friend.
 - Chris

---

Pascal, You were a great friend and role model to us all. Your incredible motivation, ingenuity, and generosity was inspirational and instrumental to the professional success of many of your followers. I, for one, could not have found my perfect job designing UAVs for Aerovironment if I had not met you and absorbed some of your tremendous knowledge. You have significantly shaped the direction of my life and will always remain a part of me.
 -Jeremy (USA)

---

Paparazzi without Pascal would be like oil to water. Pascal, you showed patience without end, teaching someone new every day. You opened your home and your life to many of us without any thought of the cost. Without you and this project my life would be very different from where it is today, different and less fulfilling. You gave us all an amazing gift, do not worry we will not let it spoil. Thank you again, we all miss you!
 -Anton (USA)
---

Not much to add, I only got the chance to meet you once and you wouldn't even let me buy you a beer!
You truly embodied the idea of open source and as many have said above, the Paparazzi project had a significant role in my future career and education.
Fly Free.
 - Gareth R

---

Pascal, you were a kind & humble person and worked very hard on this incredible project.
The glacier may have taken you from us but we will keep this great project going.
 - Mark G

---

Pascal, thank you for everything. I have learn so much with you. I will do my best to continue your work.
 - Gautier (France)

--

Pascal, thank you for everythin! I had the privilege to know you for 7 years. In my eyes you will stay as the one that was always willing to help and to give to others. You shared with me some of your passions, a part of your tremendous knowledge, and your kindness. I will never forget that. Merci Pascal.
 - Pierre-Selim (France)

---

Pascal, I feel really lucky that I met you ! You were not only the best advisor that one can ever dream of, a perfect human being, but also a wonderful friend to me. After all years that you have dedicated for the project, I am totally sure that a part of you will ALWAYS fly with Paparazzi UAVs all over the world. There is so much things to say but... Thank you very much for everything Pascal ! I will miss you a lot...
 - Murat (Turkey)

---

Pascal, thank you so much for each lucky minute I had learning from your experience and from your way as such a great human being. I stand together with everyone here to keep your great ideas flying and developing. Will you always be with us and our little planes. Again, thank you very very much...
 - Gustavo Violato (Brazil)

---

Really sorry to hear that, that is indeed sad news. Pascal has contributed a lot to the project and he will be sorely missed. Condoleances to his family.
 - Adam Spence 

---

Very bad news. My condolences to the family and those of you who really knew him...
It would be difficult to fill the hole he leaves in the project, as he
took care of a lot of things...
 - Roi Rodriguez 

---

I'm so sorry to hear about this tragedy. After receiving much help from Pascal and many other wonderful members of this community, a working set of Paparazzi aircraft has facilitated me in the completion of my Ph.D. dissertation defense, and in surveying the damage caused by the disastrous floods here in Nashville, TN. I bring with me significant embedded systems expertise, and experience in integration of PPZ into large scale aircraft, so I will be happy to contribute to whatever I can. My deepest sympathies to his family and to all those that knew him.
 - Adrian Lauf 

---

My deepest condolence to Pascal`s family and friends.
Although he left us his work and dreams will live on...
 - Marko Thaler

---

I wish to offer my most sincere condolences to Pascal's family, friends and colleagues on behalf of myself and other followers of the Paparazzi Project in New Zealand. He will be sorely missed.
 - Stephen L Hulme (New Zealand)

---

I am so sorry to hear this sad news. In the US, friend or coworkers often contribute for a flower arrangement for the funeral. Is this being done?
Thanks, Pascal, for all you have done and may your work live on through those you have helped.
 - David Carlson 

---

This is shocking news. We are heartbroken here, our condolences to Pascals family, and the entire Paparazzi group. Pascal was indeed a special person. I met him, and some of the other ENAC members at MAV 08. To me, it was a dream come true, to meet Pascal and the group. We even went flying in the evening together. Pascal has always been there to help and assist, I don't think we would be doing what we do, or reached the stage we are at if it weren't for Pascals help. I cant come to terms with this loss. From now on, every flight we fly is dedicated to Pascal.
 - Uttam Chandrashekhar (India)

---

I am really sorry to hear this. Pascal was a great friend and I know he helped alot of people including me.
We will remember him.
 - Roman Krashanitsa (Ukraine)

---

My deepest condolences to Pascal's family and friends. I went online and saw the article about the accident after seeing the Wiki this AM.
I am speechless as well. I feel the world has lost someone special.
 - David Conger (USA)

---

My Deepest condolences to Pascals family, its shocking to hear this. Although, i did not have the fortune to have met him personally, in many ways he has been instrumental in me building and flying a UAV. His dedication and helpfulness to all has inspired me and will always be remembered whenever my little plane flies with paparazzi.
 -Prashanth Thankachan

---

This is great loss to all. He was a kind & humble person.
The glacier may have taken him from us but we will keep this great project going.
 -Mark Griffin

---

So sorry to hear such a sad news, we have lost such an intelligent person. My deepest and sincerest condolence to Pascal's families and friends. I still remember how kindly he was for answering my questions and helping me to make progress on the Paparazzi project. The only thing I could do is making my best efforts to let our UAV equipped with Paparazzi autopilot win again in this year's competition as the best memorial for him.
 -Long Di

---

Hi All,
I am very sad to ear this bad news. I met the paparazzi team once at the EMAV in Garmish Partenkirchen.
Condoleances to his family.
 -Martial Châteauvieux (Germany)

---

It is very sad and shocking to hear that. Paparazzi has been a greatest project for me ever. I can not express my sadness with word……. my sincerest condolences for all Pascal’s friends and families.
 -Chen Kuo (Germany)

---

This is a terrible news.
My most sincere condolences to Pascal's family and friends. Although, i didn't know him personally, I miss him already as I appreciated his help for my paparazzy set-up.
I explored deeply the code of the ground station, and started doing some OCAML. I can be of some help for the ground station part, but it is clear I won't be performing as fast as Pascal as i am still beginner in OCAML.
 -Guillaume Sanchez (France)

---

I am shocked and sad to read of the abruptly death of Pascal.
My deepest and sincerest condolence to Pascal's families and friends.
I will keep him in my mind as kind and helpful person.
 -Prof. Dr.-Ing. Heinrich Warmers (Germany)

---

Like so many others here, flying robots is a dream and your brainchild was what let me see that dreams can be a reality. For that I will be forever grateful and indebted to you. I remember the first time I flew on autopilot; putting a plane in the air and having it fly itself seemed almost magical. But it was the hard work that you took the pains to share with the world that made it possible. Your talents were unmatched and the world is poorer now without you. Your welcoming spirit is something that I will not soon forget. We grieve at your sudden departure and our hearts go out to those who knew you best.
 -Paul

---

Pascal, thank you for all your help and inspiration. I'm very glad I met you and will always remember the time working, flying and hiking with you.
 -Felix Ruess (Germany)

---

Pascal, so sad and terrible to hear this. As for many others on this page, you changed my life. We will never forget you as you will always fly with us.
 -Christian Lindenberg (Germany)

---

From the very few contacts I had with Pascal, I was really unable to miss the gentleness and kindness he shows in every act.
He was helpful, simple, generous and sincere.Even for a stranger asking for a few hints about a mountain hike, he took plenty of time to give me his best tricks and advice. I really feel that, to everybody he met, his absence is going to be a great loss, and lasting sadness. I feel really sad today, and I send all my condoleances to his family.

 -Raïlane (France)

---

The rare intelligence, kindness and humility of Pascal Brisset made him a precious man to meet. He has been, and still will be, a tremendous inspiration to some of my close friends who worked with him and whose life was forever changed to the better. Nature has now called him back, to the heart of the moutains he loved with passion. May he rest in peace and may time ease the pain of those who knew and remember him. Fly on Pascal !

 - David Paquet (France)

Booz/Airframes

2010-03-26T19:36:08Z

AntonK:

== NoVa Quadrotor Frames ==

NoVa frames are a balsa carbon composite frame specifically designed to interface with the Booz electronics. The NoVa frame is also compatible with the X-BL controller. Price for the kit is set at $150, and can be purchased by emailing akochevar at gmail.com.

[[Image:NOVA_FRAME_KIT1.JPG|240px]]
[[Image:NOVA_FRAME_ISO1.JPG|240px]]
[[Image:NOVA_FRAME_SCALE.JPG|240px]]

== Mikrokopter ==

Mikrokopter is a popular airframe made of aluminum tubes. You can build your own with material from the hardware store or buy ready made parts from this [https://www.mikrocontroller.com/ shop]

[[Image:MkkArms.jpg|240px]]
[[Image:MkkOverall.jpg|240px]]

== Asctec ==

Asctec sells a pretty and pricey carbon frame that can be bought from this [http://www.x3d-shop.de/ shop]

[[Image:AsctecOverall.jpg|240px]]

Booz/Airframes

2010-03-03T05:09:15Z

AntonK:

== NoVa Quadrotor Frames ==

NoVa frames are a balsa carbon composite frame specifically designed to interface with the Booz electronics. The NoVa frame is also compatible with the X-BL controller. Price for the kit is set at $150, and can be purchased [https://www.ppzuav.com/osc/product_info.php?cPath=15&products_id=114&osCsid=ff07caa1f60aaf77795307819c7ead0f/ here]. Please feel free to email any questions or interest to akochevar at gmail.com.

[[Image:NOVA_FRAME_KIT1.JPG|240px]]
[[Image:NOVA_FRAME_ISO1.JPG|240px]]
[[Image:NOVA_FRAME_SCALE.JPG|240px]]

== Mikrokopter ==

Mikrokopter is a popular airframe made of aluminum tubes. You can build your own with material from the hardware store or buy ready made parts from this [https://www.mikrocontroller.com/ shop]

[[Image:MkkArms.jpg|240px]]
[[Image:MkkOverall.jpg|240px]]

== Asctec ==

Asctec sells a pretty and pricey carbon frame that can be bought from this [http://www.x3d-shop.de/ shop]

[[Image:AsctecOverall.jpg|240px]]

Booz/Airframes

2010-03-03T03:00:27Z

AntonK:

== NoVa Quadrotor Frames ==

NoVa frames are a balsa carbon composite frame specifically designed to interface with the Booz electronics. The NoVa frame is also compatible with the X-BL controller. Price for the kit is set at $150. Please feel free to email any questions or interest to akochevar at gmail.com.

[[Image:NOVA_FRAME_KIT1.JPG|240px]]
[[Image:NOVA_FRAME_ISO1.JPG|240px]]
[[Image:NOVA_FRAME_SCALE.JPG|240px]]

== Mikrokopter ==

Mikrokopter is a popular airframe made of aluminum tubes. You can build your own with material from the hardware store or buy ready made parts from this [https://www.mikrocontroller.com/ shop]

[[Image:MkkArms.jpg|240px]]
[[Image:MkkOverall.jpg|240px]]

== Asctec ==

Asctec sells a pretty and pricey carbon frame that can be bought from this [http://www.x3d-shop.de/ shop]

[[Image:AsctecOverall.jpg|240px]]

Booz/Airframes

2010-03-02T01:18:03Z

AntonK:

== NoVa Quadrotor Frames ==

NoVa frames are a balsa carbon composite frame specifically designed to interface with the Booz electronics. The NoVa frame is also compatible with the X-BL controller. Price for the kit is set at $150 and will be available through http://www.ppzuav.com. Please feel free to email any questions or interest to aj at ppzuav.com

[[Image:NOVA_FRAME_KIT1.JPG|240px]]
[[Image:NOVA_FRAME_ISO1.JPG|240px]]
[[Image:NOVA_FRAME_SCALE.JPG|240px]]

== Mikrokopter ==

Mikrokopter is a popular airframe made of aluminum tubes. You can build your own with material from the hardware store or buy ready made parts from this [https://www.mikrocontroller.com/ shop]

[[Image:MkkArms.jpg|240px]]
[[Image:MkkOverall.jpg|240px]]

== Asctec ==

Asctec sells a pretty and pricey carbon frame that can be bought from this [http://www.x3d-shop.de/ shop]

[[Image:AsctecOverall.jpg|240px]]

File:NOVA FRAME SCALE.JPG

2010-03-02T01:16:41Z

AntonK:

File:NOVA FRAME ISO1.JPG

2010-03-02T01:16:15Z

AntonK:

File:NOVA FRAME KIT1.JPG

2010-03-02T01:15:11Z

AntonK:

Booz/Airframes

2010-03-02T01:13:55Z

AntonK:

== NoVa Quadrotor Frames ==

NoVa frames are a balsa carbon composite frame specifically designed to interface with the Booz electronics. The NoVa frame is also compatible with the X-BL controller. Price for the kit is set at $150 and will be available through http://www.ppzuav.com. Please feel free to email any questions or interest to aj at ppzuav.com

[[Image:NOVA_FRAME_KIT.JPG|240px]]
[[Image:NOVA_FRAME_ISO1.JPG|240px]]
[[Image:NOVA_FRAME_SCALE.JPG|240px]]

== Mikrokopter ==

Mikrokopter is a popular airframe made of aluminum tubes. You can build your own with material from the hardware store or buy ready made parts from this [https://www.mikrocontroller.com/ shop]

[[Image:MkkArms.jpg|240px]]
[[Image:MkkOverall.jpg|240px]]

== Asctec ==

Asctec sells a pretty and pricey carbon frame that can be bought from this [http://www.x3d-shop.de/ shop]

[[Image:AsctecOverall.jpg|240px]]

Booz/Airframes

2010-02-16T03:54:49Z

AntonK:

== NoVa Quadrotor Frames ==

NoVa frames are a balsa carbon composite frame specifically designed to interface with the Booz electronics. The NoVa frame is also compatible with the X-BL controller. Pictured below is the engineering kit that was sent to beta testers. The production version will have upgraded carbon fiber that is bidirectional. The production kit will be available on or before March 1. Price for the kit is set at $150 and will be available through http://www.ppzuav.com. Please feel free to email any questions or interest to aj at ppzuav.com

[[Image:QUAD_FRAME_KIT.JPG|240px]]
[[Image:QUAD_FRAME_ISO1.JPG|240px]]
[[Image:QUAD_FRAME_ISO2.JPG|240px]]
[[Image:QUAD_FRAME_SCALE.JPG|240px]]

== Mikrokopter ==

Mikrokopter is a popular airframe made of aluminum tubes. You can build your own with material from the hardware store or buy ready made parts from this [https://www.mikrocontroller.com/ shop]

[[Image:MkkArms.jpg|240px]]
[[Image:MkkOverall.jpg|240px]]

== Asctec ==

Asctec sells a pretty and pricey carbon frame that can be bought from this [http://www.x3d-shop.de/ shop]

[[Image:AsctecOverall.jpg|240px]]

Booz/Airframes

2010-02-16T03:53:42Z

AntonK:

== NoVa Quadrotor Frames ==

NoVa frames are a balsa carbon composite frame specifically designed to interface with the Booz electronics. The NoVa frame is also compatible with the X-BL controller. Pictured below is the engineering kit that was sent to beta testers. The production version will have upgraded carbon fiber that is bidirectional. Price for the kit is set at $150 and will be available through http://www.ppzuav.com. Please feel free to email any questions or interest to aj at ppzuav.com

[[Image:QUAD_FRAME_KIT.JPG|240px]]
[[Image:QUAD_FRAME_ISO1.JPG|240px]]
[[Image:QUAD_FRAME_ISO2.JPG|240px]]
[[Image:QUAD_FRAME_SCALE.JPG|240px]]

== Mikrokopter ==

Mikrokopter is a popular airframe made of aluminum tubes. You can build your own with material from the hardware store or buy ready made parts from this [https://www.mikrocontroller.com/ shop]

[[Image:MkkArms.jpg|240px]]
[[Image:MkkOverall.jpg|240px]]

== Asctec ==

Asctec sells a pretty and pricey carbon frame that can be bought from this [http://www.x3d-shop.de/ shop]

[[Image:AsctecOverall.jpg|240px]]

Booz/Airframes

2010-02-16T03:49:01Z

AntonK:

== NoVa Quadrotor Frames ==

NoVa frames are a balsa carbon composite frame specifically designed to interface with the Booz electronics. The NoVa frame is also compatible with the X-BL controller. Pictured below is the engineering kit that was sent to beta testers. The production version will have upgraded carbon fiber that is bidirectional. Price for the kit is set at $150 and will be available through http://www.ppzuav.com. Please feel free to email any questions or interest to aj at ppzuav.com

[[Image:QUAD_FRAME_KIT.jpg|240px]]
[[Image:QUAD_FRAME_ISO1.jpg|240px]]
[[Image:QUAD_FRAME_ISO2.jpg|240px]]
[[Image:QUAD_FRAME_SCALE.jpg|240px]]

== Mikrokopter ==

Mikrokopter is a popular airframe made of aluminum tubes. You can build your own with material from the hardware store or buy ready made parts from this [https://www.mikrocontroller.com/ shop]

[[Image:MkkArms.jpg|240px]]
[[Image:MkkOverall.jpg|240px]]

== Asctec ==

Asctec sells a pretty and pricey carbon frame that can be bought from this [http://www.x3d-shop.de/ shop]

[[Image:AsctecOverall.jpg|240px]]

File:QUAD FRAME SCALE.JPG

2010-02-16T03:47:42Z

AntonK: The NoVa quad frame on the scales

The NoVa quad frame on the scales

File:QUAD FRAME ISO2.JPG

2010-02-16T03:47:18Z

AntonK: Another ISO of the NoVa quad frame

Another ISO of the NoVa quad frame

File:QUAD FRAME ISO1.JPG

2010-02-16T03:46:46Z

AntonK: Iso view of assembled NoVa quad frame

Iso view of assembled NoVa quad frame

File:QUAD FRAME KIT.JPG

2010-02-16T03:46:02Z

AntonK: NoVa quad frame kit.

NoVa quad frame kit.

Booz/Airframes

2010-02-16T03:42:13Z

AntonK:

== NoVa Quadrotor Frames ==

NoVa frames are a balsa carbon composite frame specifically designed to interface with the Booz electronics. The NoVa frame is also compatible with the X-BL controller. Pictured below is the engineering kit that was sent to beta testers. The production version will have upgraded carbon fiber that is bidirectional. Price for the kit is set at $150 and will be available through www.ppzuav.com. Please feel free to email any questions or interest to aj at ppzuav.com

== Mikrokopter ==

Mikrokopter is a popular airframe made of aluminum tubes. You can build your own with material from the hardware store or buy ready made parts from this [https://www.mikrocontroller.com/ shop]

[[Image:MkkArms.jpg|240px]]
[[Image:MkkOverall.jpg|240px]]

== Asctec ==

Asctec sells a pretty and pricey carbon frame that can be bought from this [http://www.x3d-shop.de/ shop]

[[Image:AsctecOverall.jpg|240px]]

Gallery

2008-02-27T01:39:20Z

AntonK:

== User's Gallery ==
=== User's Gallery ===
{|
|-valign="top"
|
<gallery caption="Paparazzi Aircraft">
Image:early_twinstar.jpg|Early Twinstar Antoine Drouin and Pascal Brisset
Image:glotzer.jpg|Glotzer Martin Mueller and Christian Lindberg
Image:Dragonfly_0626.jpg|Dragonfly University of Arizona Span 30cm, mass 220g
Image:DragonSlayer_0948sm.jpg|Dragon Slayer Miraterre Flight Systems Span 33cm, mass 300g
Image:Twinstar_2_Twinjet_night.JPG|Night-equipped Twinstar and Twinjet Antoine Drouin and Pascal Brisset
Image:Orange_One_0999.jpg|M.A.C. Orange One Martin Mueller and Christian Lindberg
Image:slayer_twinstar_ii.jpg|Slayer and Twinstar The Twinstar performs an autonomous aerial launch of the Slayer
Image:Sephiroth_Pre-Paparazzi.jpg|Sephiroth P-51 Mustang, off-board video processing for horizon-based stabilization
Image:Triple-X.JPG|Triple-X Prototype Miraterre Flight Systems Span 90cm, mass 1400g
Image:Cybereye.jpg|CyberEye Miraterre Flight Systems Span 130cm, mass 2kg
Image:osamuavs.jpg|Two Zagi's, and Aggiebird Wing Spans 48", 60", and 100" OSAM-UAV Team
Image:NoVa1.jpg|NoVa Quadrotor AJ Kochevar Attitude Stabilized quadrotor using Tiny 2.0
</gallery>
|

|}

== Flight competitions ==
=== MAV07 ===
; Toulouse, France, (September 19th - 22nd, 2007)
* 1st place (shared): Paparazzi ''Dragon Slayer''
* 1st place (shared): Micropilot ''Ping Wing''
* 3rd place : Paparazzi ''Tyto'' (Supaero)
* 4th place : Paparazzi ''MAC 07'' (Martin Muller Engineering)
* 5th place : Paparazzi ''Storm1'' (Murat Bronz)
{|
|-valign="top"
|
<gallery caption="MAV07, Toulouse">
Image:Slayer-105416sm.jpg|Dragon Slayer Miraterre Flight Systems
Image:Twisted_1413sm.jpg|Twisted Logic Miraterre Flight Systems
Image:Storm1.jpg|Storm1 Murat BRONZ
Image:Pingwing.jpg|Ping Wing Sweden
Image:Tyto.jpg|Tyto Supaero
</gallery>
|}

=== MAV06 ===
; Sandestin, Florida, USA (October 29th - November 2nd, 2006)
* 1st place : Procerus Kestrel (Bringham Young University)
* 2nd place : Paparazzi ''Dualing Slayers'' (ENAC / Miraterre)
* 3rd place : Paparazzi ''Black One'' ("fake" Martin Muller Engineering)
{|
|-valign="top"
|
<gallery caption="MAV06, Florida">
Image:MAC-OrangeOne-MAV06.jpg|Orange One Martin Mueller and Christian Lindberg
Image:MAC-BlackOne-MAV06.jpg|Black One Martin Mueller and Christian Lindberg
Image:ENAC-Planning-MAV06.jpg|ENAC Team
Image:Slayers-MAV06.jpg|Dragon Slayers Slayers acquiring GPS fix 
Image:Michel_vs_Slayer-MAV06.jpg|Catch! Michel bravely catching the Slayer in an autonomous landing 
Image:BYU-MAV06.jpg|BYU's Winning Design BYU used the Procerus Kestrel autopilot 
</gallery>
|}

=== EMAV2006 ===
; Braunschweig, Niedersachsen, Germany (25-26 July 2006)
* 1st place : Paparazzi ''DragonSlayer/BlackOne/Microjet''
* 2nd place : Paparazzi ''JeanMav360''

{|
|-valign="top"
|
[[Image:emav2006_paparazzies.jpg|thumb|left|EMAV06 Paparazzi Team]]
 
|}

=== MAV05 ===
; Garmisch-Partenkirchen, Bavaria, Germany (17-23 September 2005)
* 1st place : Paparazzi ''Dragonfly''
* 2nd place : Paparazzi ''Glotzer''
* 3rd place : Paparazzi ''Plaster''
* 4th place : Paparazzi ''Plaster duo''

{|
|-valign="top"
|
<gallery caption="MAV05, Germany"
Image:MAV05_paparazzies.jpg|The Paparazzi teams in Garmisch
Image:mav05_dragonfly.jpg|Dragonfly ''University of Arizona''
Image:mav05_depronazzi.jpg|Glotzer ''Martin Mueller and Christian Lindberg''
Image:mav05_ladybug.jpg|Ladybug ''ENAC''
Image:mav05_enac.jpg|ENAC Team
</gallery>
|}

=== 4eme Journées microdrones ===
; Toulouse, France ( 15 septembre 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
| [[Image:Paparazzi_Equiped_Aircraft.jpg|thumb|left|Microjet]] 
|}

=== EMAV2004 ===
; Braunschweig, Niedersachsen, Germany (13 July 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
|
<gallery caption="EMAV2004">
Image:emav04_01.jpg|The Paparazzi team
Image:emav04_02.jpg|Spectators
Image:emav04_03.jpg|Automatic tracking antenna
</gallery>
|}

=== EMAV2003 ===
; Toulouse, France ( 3 october 2003)
* 1st place : Paparazzi ''Twinstar''

{|-valign="top"
|
<gallery caption="EMAV2003">
Image:emav03_01.jpg|Twinstar ready for flight
Image:emav03_02.jpg|Paparazzi team
</gallery>
|
|}

NoVa

2008-02-18T04:29:48Z

AntonK: video added

[http://www.recherche.enac.fr/paparazzi/wiki/index.php/Airframes <<] Back to Airframes

{|
|-valign="top"
|[[Image:NoVa1.jpg|thumb|left|NoVa Quadrotor]]
|
NoVa is a new quadrotor that uses Paparazzi hardware as well as software. The goal of this project was to create a durable and affordable quadrotor that integrated with the existing paparazzi project. Custom airborne software links NoVa to the paparazzi GCS. Segregating its specific code will allow users to fly their fixed wing UAVs in the same up to date CVS tree as NoVa.

Hopefully soon you will see more updates, pictures, videos, and hopefully build plans. For now let me leave my email akochevar@gmail.com. If you have any questions feel free to drop a line. Enjoy the pictures!

'''Update: You can see a short video [http://s191.photobucket.com/albums/z266/shannan310/?action=view&current=MVI_0019-2.flv HERE!]'''
|}

== Features ==

* Inexpensive brushless motors
* Uses traditional brushless ESCs
* Onboard Tiny2.0 makes it paparazzi compatible
* Real time tuning and plotting using paparazzi GCS
* Attitude Stabilization using IMU + Complimentary filter
* Rugged Construction of fiberglass and carbon fiber

== Specifications ==

* Rotorspan: 27.0" (686mm)
* Weight: 24oz (670g) _all up_
* Weight w/o battery (for estimation): 16oz (450g)
* Flight duration w/ 4100mAh battery ~ 15 minutes

=== Payload Options ===

*Approximately 200 gram payload capable.

== Current Setup and BOM ==

=== Airframe ===

Qty
* 1 0.250" Square carbon tube - www.cstsales.com
* 1 0.125" Wood dowel - Local hardware store
* 1 1/16" 12x12 G-10 Composite sheet - www.mcmaster.com
* 32 1/2" 2-56 flat machine screw - www.mcmaster.com
* 32 2-56 machine nut - www.mcmaster.com
* 12 1/4' 2-56 aluminum M-F standoffs - www.mcmaster.com
* 4 3/4' 2-56 aluminum M-F standoffs - www.mcmaster.com

=== Power Plant ===

Qty
* 4 1300 Kv Brushless outrunners - www.hobbycity.com
* 4 CC Phoenix 10 speed controllers - www.epyaya.com
* 4 10x4.7 propellers 2 each direction - www.toddsmodels.com
* 4 Prop saver Prop adapters - www.hobbycity.com
* 1 2 cell 4000mAh battery - www.thunderpower.com

=== Electronics ===

Qty
* 1 Paparazzi autopilot - www.doityourself.com
* 1 Xbee radio modem(or similar) - www.maxstream.net
* 1 Berg 4l RC receiver - www.balsapr.com
* 1 3 axis accelerometer - www.sparkfun.com
* 3 1 axis ADXRS150 Gyros - www.sparkfun.com

Estimated Parts cost ~ $600 + autopilot

== Photos ==

[[Image:NoVa2.jpg|thumb|left|Tabletop launch]]
[[Image:NoVa3.jpg|thumb|left|Staying in the yard]]
[[Image:NoVa4.jpg|thumb|left|Escaping into the night]]
[[Image:NoVa5.jpg|thumb|left|Staying in the yard... again]]
[[Image:NoVa6.jpg|thumb|left|Hovering against a mountain backdrop]]
[[Image:NoVa7.jpg|thumb|left|Hovering towards the neighbors]]
[[Image:NoVa8.jpg|thumb|left|Blending in with the neighbors]]
[[Image:NoVa9.jpg|thumb|left|Its a bird, Its a plane!]]

NoVa

2008-02-18T02:09:27Z

AntonK: background and email address

[http://www.recherche.enac.fr/paparazzi/wiki/index.php/Airframes <<] Back to Airframes

{|
|-valign="top"
|[[Image:NoVa1.jpg|thumb|left|NoVa Quadrotor]]
|
NoVa is a new quadrotor that uses Paparazzi hardware as well as software. The goal of this project was to create a durable and affordable quadrotor that integrated with the existing paparazzi project. Custom airborne software links NoVa to the paparazzi GCS. Segregating its specific code will allow users to fly their fixed wing UAVs in the same up to date CVS tree as NoVa.

Hopefully soon you will see more updates, pictures, videos, and hopefully build plans. For now let me leave my email akochevar@gmail.com. If you have any questions feel free to drop a line. Enjoy the pictures!
|}

== Features ==

* Inexpensive brushless motors
* Uses traditional brushless ESCs
* Onboard Tiny2.0 makes it paparazzi compatible
* Real time tuning and plotting using paparazzi GCS
* Attitude Stabilization using IMU + Complimentary filter
* Rugged Construction of fiberglass and carbon fiber

== Specifications ==

* Rotorspan: 27.0" (686mm)
* Weight: 24oz (670g) _all up_
* Weight w/o battery (for estimation): 16oz (450g)
* Flight duration w/ 4100mAh battery ~ 15 minutes

=== Payload Options ===

*Approximately 200 gram payload capable.

== Current Setup and BOM ==

=== Airframe ===

Qty
* 1 0.250" Square carbon tube - www.cstsales.com
* 1 0.125" Wood dowel - Local hardware store
* 1 1/16" 12x12 G-10 Composite sheet - www.mcmaster.com
* 32 1/2" 2-56 flat machine screw - www.mcmaster.com
* 32 2-56 machine nut - www.mcmaster.com
* 12 1/4' 2-56 aluminum M-F standoffs - www.mcmaster.com
* 4 3/4' 2-56 aluminum M-F standoffs - www.mcmaster.com

=== Power Plant ===

Qty
* 4 1300 Kv Brushless outrunners - www.hobbycity.com
* 4 CC Phoenix 10 speed controllers - www.epyaya.com
* 4 10x4.7 propellers 2 each direction - www.toddsmodels.com
* 4 Prop saver Prop adapters - www.hobbycity.com
* 1 2 cell 4000mAh battery - www.thunderpower.com

=== Electronics ===

Qty
* 1 Paparazzi autopilot - www.doityourself.com
* 1 Xbee radio modem(or similar) - www.maxstream.net
* 1 Berg 4l RC receiver - www.balsapr.com
* 1 3 axis accelerometer - www.sparkfun.com
* 3 1 axis ADXRS150 Gyros - www.sparkfun.com

Estimated Parts cost ~ $600 + autopilot

== Photos ==

[[Image:NoVa2.jpg|thumb|left|Tabletop launch]]
[[Image:NoVa3.jpg|thumb|left|Staying in the yard]]
[[Image:NoVa4.jpg|thumb|left|Escaping into the night]]
[[Image:NoVa5.jpg|thumb|left|Staying in the yard... again]]
[[Image:NoVa6.jpg|thumb|left|Hovering against a mountain backdrop]]
[[Image:NoVa7.jpg|thumb|left|Hovering towards the neighbors]]
[[Image:NoVa8.jpg|thumb|left|Blending in with the neighbors]]
[[Image:NoVa9.jpg|thumb|left|Its a bird, Its a plane!]]

NoVa

2008-02-18T02:04:00Z

AntonK:

[http://www.recherche.enac.fr/paparazzi/wiki/index.php/Airframes <<] Back to Airframes

{|
|-valign="top"
|[[Image:NoVa1.jpg|thumb|left|NoVa Quadrotor]]
|
The new brushless quadrotor using paparazzi.
|}

== Features ==

* Inexpensive brushless motors
* Uses traditional brushless ESCs
* Onboard Tiny2.0 makes it paparazzi compatible
* Real time tuning and plotting using paparazzi GCS
* Attitude Stabilization using IMU + Complimentary filter
* Rugged Construction of fiberglass and carbon fiber

== Specifications ==

* Rotorspan: 27.0" (686mm)
* Weight: 24oz (670g) _all up_
* Weight w/o battery (for estimation): 16oz (450g)
* Flight duration w/ 4100mAh battery ~ 15 minutes

=== Payload Options ===

*Approximately 200 gram payload capable.

== Current Setup and BOM ==

=== Airframe ===

Qty
* 1 0.250" Square carbon tube - www.cstsales.com
* 1 0.125" Wood dowel - Local hardware store
* 1 1/16" 12x12 G-10 Composite sheet - www.mcmaster.com
* 32 1/2" 2-56 flat machine screw - www.mcmaster.com
* 32 2-56 machine nut - www.mcmaster.com
* 12 1/4' 2-56 aluminum M-F standoffs - www.mcmaster.com
* 4 3/4' 2-56 aluminum M-F standoffs - www.mcmaster.com

=== Power Plant ===

Qty
* 4 1300 Kv Brushless outrunners - www.hobbycity.com
* 4 CC Phoenix 10 speed controllers - www.epyaya.com
* 4 10x4.7 propellers 2 each direction - www.toddsmodels.com
* 4 Prop saver Prop adapters - www.hobbycity.com
* 1 2 cell 4000mAh battery - www.thunderpower.com

=== Electronics ===

Qty
* 1 Paparazzi autopilot - www.doityourself.com
* 1 Xbee radio modem(or similar) - www.maxstream.net
* 1 Berg 4l RC receiver - www.balsapr.com
* 1 3 axis accelerometer - www.sparkfun.com
* 3 1 axis ADXRS150 Gyros - www.sparkfun.com

Estimated Parts cost ~ $600 + autopilot

== Photos ==

[[Image:NoVa2.jpg|thumb|left|Tabletop launch]]
[[Image:NoVa3.jpg|thumb|left|Staying in the yard]]
[[Image:NoVa4.jpg|thumb|left|Escaping into the night]]
[[Image:NoVa5.jpg|thumb|left|Staying in the yard... again]]
[[Image:NoVa6.jpg|thumb|left|Hovering against a mountain backdrop]]
[[Image:NoVa7.jpg|thumb|left|Hovering towards the neighbors]]
[[Image:NoVa8.jpg|thumb|left|Blending in with the neighbors]]
[[Image:NoVa9.jpg|thumb|left|Its a bird, Its a plane!]]

File:NoVa9.jpg

2008-02-18T01:47:06Z

AntonK:

NoVa

2008-02-18T01:46:52Z

AntonK:

[http://www.recherche.enac.fr/paparazzi/wiki/index.php/Airframes <<] Back to Airframes

{|
|-valign="top"
|[[Image:NoVa1.jpg|thumb|left|NoVa Quadrotor]]
|
The new brushless quadrotor using paparazzi.
|}

== Features ==

* Inexpensive brushless motors
* Uses traditional brushless ESCs
* Onboard Tiny2.0 makes it paparazzi compatible
* Real time tuning and plotting using paparazzi GCS
* Attitude Stabilization using IMU + Complimentary filter
* Rugged Construction of fiberglass and carbon fiber

== Specifications ==

* Rotorspan: 27.0" (686mm)
* Weight: 24oz (670g) _all up_
* Weight w/o battery (for estimation): 16oz (450g)
* Flight duration w/ 4100mAh battery ~ 15 minutes

=== Payload Options ===

*Approximately 200 gram payload capable.

== Current Setup and BOM ==

=== Airframe ===

Qty
* 1 0.250" Square carbon tube - www.cstsales.com
* 1 0.125" Wood dowel - Local hardware store
* 1 1/16" 12x12 G-10 Composite sheet - www.mcmaster.com
* 32 1/2" 2-56 flat machine screw - www.mcmaster.com
* 32 2-56 machine nut - www.mcmaster.com
* 12 1/4' 2-56 aluminum M-F standoffs - www.mcmaster.com
* 4 3/4' 2-56 aluminum M-F standoffs - www.mcmaster.com

=== Power Plant ===

Qty
* 4 1300 Kv Brushless outrunners - www.hobbycity.com
* 4 CC Phoenix 10 speed controllers - www.epyaya.com
* 4 10x4.7 propellers 2 each direction - www.toddsmodels.com
* 4 Prop saver Prop adapters - www.hobbycity.com
* 1 2 cell 4000mAh battery - www.thunderpower.com

=== Electronics ===

Qty
* 1 Paparazzi autopilot - www.doityourself.com
* 1 Xbee radio modem(or similar) - www.maxstream.net
* 1 Berg 4l RC receiver - www.balsapr.com
* 1 3 axis accelerometer - www.sparkfun.com
* 3 1 axis ADXRS150 Gyros - www.sparkfun.com

Estimated Parts cost ~ $600 + autopilot

== Photos ==

[[Image:NoVa2.jpg|thumb|left|NoVa Quadrotor]]
[[Image:NoVa3.jpg|thumb|left|NoVa Quadrotor]]
[[Image:NoVa4.jpg|thumb|left|NoVa Quadrotor]]
[[Image:NoVa5.jpg|thumb|left|NoVa Quadrotor]]
[[Image:NoVa6.jpg|thumb|left|NoVa Quadrotor]]
[[Image:NoVa7.jpg|thumb|left|NoVa Quadrotor]]
[[Image:NoVa8.jpg|thumb|left|NoVa Quadrotor]]
[[Image:NoVa9.jpg|thumb|left|NoVa Quadrotor]]

File:NoVa8.jpg

2008-02-18T01:46:16Z

AntonK:

File:NoVa7.jpg

2008-02-18T01:46:02Z

AntonK:

File:NoVa6.jpg

2008-02-18T01:45:47Z

AntonK:

File:NoVa5.jpg

2008-02-18T01:45:28Z

AntonK:

File:NoVa4.jpg

2008-02-18T01:45:03Z

AntonK:

File:NoVa3.jpg

2008-02-18T01:44:49Z

AntonK:

File:NoVa2.jpg

2008-02-18T01:40:29Z

AntonK:

NoVa

2008-02-18T01:37:37Z

AntonK:

[http://www.recherche.enac.fr/paparazzi/wiki/index.php/Airframes <<] Back to Airframes

{|
|-valign="top"
|[[Image:NoVa1.jpg|thumb|left|NoVa Quadrotor]]
|
The new brushless quadrotor using paparazzi.
|}

== Features ==

* Inexpensive brushless motors
* Uses traditional brushless ESCs
* Onboard Tiny2.0 makes it paparazzi compatible
* Real time tuning and plotting using paparazzi GCS
* Attitude Stabilization using IMU + Complimentary filter
* Rugged Construction of fiberglass and carbon fiber

== Specifications ==

* Rotorspan: 27.0" (686mm)
* Weight: 24oz (670g) _all up_
* Weight w/o battery (for estimation): 16oz (450g)
* Flight duration w/ 4100mAh battery ~ 15 minutes

=== Payload Options ===

*Approximately 200 gram payload capable.

== Current Setup and BOM ==

=== Airframe ===

Qty
* 1 0.250" Square carbon tube - www.cstsales.com
* 1 0.125" Wood dowel - Local hardware store
* 1 1/16" 12x12 G-10 Composite sheet - www.mcmaster.com
* 32 1/2" 2-56 flat machine screw - www.mcmaster.com
* 32 2-56 machine nut - www.mcmaster.com
* 12 1/4' 2-56 aluminum M-F standoffs - www.mcmaster.com
* 4 3/4' 2-56 aluminum M-F standoffs - www.mcmaster.com

=== Power Plant ===

Qty
* 4 1300 Kv Brushless outrunners - www.hobbycity.com
* 4 CC Phoenix 10 speed controllers - www.epyaya.com
* 4 10x4.7 propellers 2 each direction - www.toddsmodels.com
* 4 Prop saver Prop adapters - www.hobbycity.com
* 1 2 cell 4000mAh battery - www.thunderpower.com

=== Electronics ===

Qty
* 1 Paparazzi autopilot - www.doityourself.com
* 1 Xbee radio modem(or similar) - www.maxstream.net
* 1 Berg 4l RC receiver - www.balsapr.com
* 1 3 axis accelerometer - www.sparkfun.com
* 3 1 axis ADXRS150 Gyros - www.sparkfun.com

Estimated Parts cost ~ $600 + autopilot

== Photos ==

[[Image:NoVa2.jpg|thumb|left|NoVa Quadrotor]]
[[Image:NoVa3.jpg|thumb|left|NoVa Quadrotor]]
[[Image:NoVa4.jpg|thumb|left|NoVa Quadrotor]]
[[Image:NoVa5.jpg|thumb|left|NoVa Quadrotor]]
[[Image:NoVa6.jpg|thumb|left|NoVa Quadrotor]]
[[Image:NoVa7.jpg|thumb|left|NoVa Quadrotor]]
[[Image:NoVa8.jpg|thumb|left|NoVa Quadrotor]]

Airframes

2008-02-18T01:34:53Z

AntonK:

== NoVa Quadrotor ==
{|
|-valign="top"
|[[Image:NoVa1.jpg|thumb|left|Nova Quadrotor]]
|
The [[NoVa|NoVa]] is an attitude stabilized quadrotor. It utilizes paparazzi hardware as well as a 6DOF IMU.

'''[[NoVa|More details...]]'''
|}

== Multiplex FunJet ==
{|
|-valign="top"
|[[Image:Funjet_flight_dawnron1.jpg|thumb|left|Multiplex FunJet]]
|
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.

'''[[FunJet|More details...]]'''
|}

== Misc Airframe Notes ==

[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.

[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.

[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.

=== Battery Specs ===

'''Nickel Cadmium (NiCd)'''

* Energy/Weight: 40-60 Wh/kg
* Nominal Cell Voltage: 1.2V
* Fully Charged Cell Voltage: 1.2V
* Depleted Cell Voltage: 0.8-1.0V

'''Nickel Metal Hydride (NiMh)'''

* Energy/Weight: 30-80 Wh/kg
* Nominal Cell Voltage: 1.2V
* Fully Charged Cell Voltage: 1.35-1.4 V (unloaded)
* Depleted Cell Voltage: 1.0V

'''Lithium-Ion'''

* Energy/weight: 160 Wh/kg
* Nominal Cell Voltage: 3.6 / 3.7 V
* Fully Charged Cell Voltage: 4.2V
* Lowest Cell Discharge Voltage Before Damage: 2.4v to 3.0v

'''Lithium-Ion Polymer (LiPo)'''

* Energy/weight: 130-200 Wh/kg
* Nominal Cell Voltage: 3.7V
* Fully Charged Cell Voltage: 4.23V
* Lowest Cell Discharge Voltage Before Damage: 3.0V

'''Typical Power Requirements'''

* 70W/kg (35W/lb) for sedate flying from hand launch
* 100W/kg (50W/lb) for ground take off
* 150W/kg (75W/lb) for performance / aerobatics

== Mass Figures ==

Provided below are some weights to aid in estimating an all up weight for your uav

* Tiny13 1.1 Weight: 25g (0.88oz)
* IR Sensor Head: 5g (0.18oz)
* XBee Pro: 4g (0.14oz)
* Hitec HS-55 Servo: 8g (0.28)
* Brushless Outrunner 250W: ~90g (~3oz)
* FunJet assembled, no hardware: 165g (5.82oz)
* FMA Encore 5ch Receiver: 11g (0.40oz)
* Castle Creations Phoenix 35: 24.5g (0.9oz)

File:NoVa1.jpg

2008-02-18T01:33:54Z

AntonK: Airframe with battery

Airframe with battery

NoVa

2008-02-16T04:25:40Z

AntonK:

NoVa

2008-02-16T04:25:07Z

AntonK:

[http://www.recherche.enac.fr/paparazzi/wiki/index.php/Airframes <<] Back to Airframes

{|
|-valign="top"
|[[Image:NoVa1.jpg|thumb|left|NoVa Quadrotor]]
|
The new brushless quadrotor using paparazzi.
|}

== Features ==

* Inexpensive brushless motors
* Uses traditional brushless ESCs
* Onboard Tiny2.0 makes it paparazzi compatible
* Real time tuning and plotting using paparazzi GCS
* Attitude Stabilization using IMU + Complimentary filter
* Rugged Construction of fiberglass and carbon fiber

== Specifications ==

* Rotorspan: 27.0" (686mm)
* Weight: 24oz (670g) _all up_
* Weight w/o battery (for estimation): 16oz (450g)
* Flight duration w/ 4100mAh battery ~ 15 minutes

=== Payload Options ===

*Approximately 200 gram payload capable.

== Current Setup and BOM ==

=== Airframe ===

Qty
* 1 0.250" Square carbon tube - http://cstsales.com/carbon_square_tubes.html
* 1 0.125" Wood dowel - Local hardware store
* 1 1/16" 12x12 G-10 Composite sheet - www.mcmaster.com
* 32 1/2" 2-56 flat machine screw - www.mcmaster.com
* 32 2-56 machine nut - www.mcmaster.com
* 12 1/4' 2-56 aluminum M-F standoffs - www.mcmaster.com
* 4 3/4' 2-56 aluminum M-F standoffs - www.mcmaster.com

=== Power Plant ===

Qty
* 4 1300 Kv Brushless outrunners - www.hobbycity.com
* 4 CC Phoenix 10 speed controllers - www.epyaya.com
* 4 10x4.7 propellers 2 each direction - www.toddsmodels.com
* 4 Prop saver Prop adapters - www.hobbycity.com
* 1 2 cell 4000mAh battery - www.thunderpower.com

=== Electronics ===

Qty
* 1 Paparazzi autopilot - www.doityourself.com
* 1 Xbee radio modem(or similar) - www.maxstream.net
* 1 Berg 4l RC receiver - www.balsapr.com
* 1 3 axis accelerometer - www.sparkfun.com
* 3 1 axis ADXRS150 Gyros - www.sparkfun.com

Estimated Parts cost ~ $600 + autopilot

== Photos ==

NoVa

2008-02-16T04:23:27Z

AntonK:

[http://www.recherche.enac.fr/paparazzi/wiki/index.php/Airframes <<] Back to Airframes

{|
|-valign="top"
|[[Image:NoVa1.jpg|thumb|left|NoVa Quadrotor]]
|
The new brushless quadrotor using paparazzi.
|}

== Features ==

* Inexpensive brushless motors
* Uses traditional brushless ESCs
* Onboard Tiny2.0 makes it paparazzi compatible
* Real time tuning and plotting using paparazzi GCS
* Attitude Stabilization using IMU + Complimentary filter
* Rugged Construction of fiberglass and carbon fiber

== Specifications ==

* Rotorspan: 27.0" (686mm)
* Weight: 24oz (670g) _all up_
* Weight w/o battery (for estimation): 16oz (450g)
* Flight duration w/ 4100mAh battery ~ 15 minutes

=== Payload Options ===

*Approximately 200 gram payload capable.

== Current Setup and BOM ==

=== Airframe ===

* Qty
* 1 0.250" Square carbon tube - http://cstsales.com/carbon_square_tubes.html
* 1 0.125" Wood dowel - Local hardware store
* 1 1/16" 12x12 G-10 Composite sheet - www.mcmaster.com
* 32 1/2" 2-56 flat machine screw - www.mcmaster.com
* 32 2-56 machine nut - www.mcmaster.com
* 12 1/4' 2-56 aluminum M-F standoffs - www.mcmaster.com
* 4 3/4' 2-56 aluminum M-F standoffs - www.mcmaster.com

=== Power Plant ===

* Qty
* 4 1300 Kv Brushless outrunners - www.hobbycity.com
* 4 CC Phoenix 10 speed controllers - www.epyaya.com
* 4 10x4.7 propellers 2 each direction - www.toddsmodels.com
* 4 Prop saver Prop adapters - www.hobbycity.com
* 1 2 cell 4000mAh battery - www.thunderpower.com

=== Electronics ===

* Qty
* 1 Paparazzi autopilot - www.doityourself.com
* 1 Xbee radio modem(or similar) - www.maxstream.net
* 1 Berg 4l RC receiver - www.balsapr.com
* 1 3 axis accelerometer - www.sparkfun.com
* 3 1 axis ADXRS150 Gyros - www.sparkfun.com

Estimated Parts cost ~ $600 + autopilot

== Photos ==

NoVa

2008-02-16T04:22:18Z

AntonK:

[http://www.recherche.enac.fr/paparazzi/wiki/index.php/Airframes <<] Back to Airframes

{|
|-valign="top"
|[[Image:NoVa1.jpg|thumb|left|NoVa Quadrotor]]
|
The new brushless quadrotor using paparazzi.
|}

== Features ==

* Inexpensive brushless motors
* Uses traditional brushless ESCs
* Onboard Tiny2.0 makes it paparazzi compatible
* Real time tuning and plotting using paparazzi GCS
* Attitude Stabilization using IMU + Complimentary filter
* Rugged Construction of fiberglass and carbon fiber

== Specifications ==

* Rotorspan: 27.0" (686mm)
* Weight: 24oz (670g) _all up_
* Weight w/o battery (for estimation): 16oz (450g)
* Flight duration w/ 4100mAh battery ~ 15 minutes

=== Payload Options ===

*Approximately 200 gram payload capable.

== Current Setup and BOM ==

=== Airframe ===

Qty
1 0.250" Square carbon tube - http://cstsales.com/carbon_square_tubes.html
1 0.125" Wood dowel - Local hardware store
1 1/16" 12x12 G-10 Composite sheet - www.mcmaster.com
32 1/2" 2-56 flat machine screw - www.mcmaster.com
32 2-56 machine nut - www.mcmaster.com
12 1/4' 2-56 aluminum M-F standoffs - www.mcmaster.com
4 3/4' 2-56 aluminum M-F standoffs - www.mcmaster.com

=== Power Plant ===

Qty
4 1300 Kv Brushless outrunners - www.hobbycity.com
4 CC Phoenix 10 speed controllers - www.epyaya.com
4 10x4.7 propellers 2 each direction - www.toddsmodels.com
4 Prop saver Prop adapters - www.hobbycity.com
1 2 cell 4000mAh battery - www.thunderpower.com

=== Electronics ===

Qty
1 Paparazzi autopilot - www.doityourself.com
1 Xbee radio modem(or similar) - www.maxstream.net
1 Berg 4l RC receiver - www.balsapr.com
1 3 axis accelerometer - www.sparkfun.com
3 1 axis ADXRS150 Gyros - www.sparkfun.com

Estimated Parts cost ~ $600 + autopilot

== Photos ==

NoVa

2008-02-16T03:50:02Z

AntonK:

NoVa

2008-02-16T03:48:47Z

AntonK:

Airframes

2008-02-16T03:38:16Z

AntonK:

== NoVa Quadrotor ==
{|
|-valign="top"
|[[Image:nova1.jpg|thumb|left|Nova Quadrotor]]
|
The [[NoVa|NoVa]] is an attitude stabilized quadrotor. It utilizes paparazzi hardware as well as a 6DOF IMU.

'''[[NoVa|More details...]]'''
|}

== Multiplex FunJet ==
{|
|-valign="top"
|[[Image:Funjet_flight_dawnron1.jpg|thumb|left|Multiplex FunJet]]
|
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.

'''[[FunJet|More details...]]'''
|}

== Misc Airframe Notes ==

[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.

[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.

[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.

=== Battery Specs ===

'''Nickel Cadmium (NiCd)'''

* Energy/Weight: 40-60 Wh/kg
* Nominal Cell Voltage: 1.2V
* Fully Charged Cell Voltage: 1.2V
* Depleted Cell Voltage: 0.8-1.0V

'''Nickel Metal Hydride (NiMh)'''

* Energy/Weight: 30-80 Wh/kg
* Nominal Cell Voltage: 1.2V
* Fully Charged Cell Voltage: 1.35-1.4 V (unloaded)
* Depleted Cell Voltage: 1.0V

'''Lithium-Ion'''

* Energy/weight: 160 Wh/kg
* Nominal Cell Voltage: 3.6 / 3.7 V
* Fully Charged Cell Voltage: 4.2V
* Lowest Cell Discharge Voltage Before Damage: 2.4v to 3.0v

'''Lithium-Ion Polymer (LiPo)'''

* Energy/weight: 130-200 Wh/kg
* Nominal Cell Voltage: 3.7V
* Fully Charged Cell Voltage: 4.23V
* Lowest Cell Discharge Voltage Before Damage: 3.0V

'''Typical Power Requirements'''

* 70W/kg (35W/lb) for sedate flying from hand launch
* 100W/kg (50W/lb) for ground take off
* 150W/kg (75W/lb) for performance / aerobatics

== Mass Figures ==

Provided below are some weights to aid in estimating an all up weight for your uav

* Tiny13 1.1 Weight: 25g (0.88oz)
* IR Sensor Head: 5g (0.18oz)
* XBee Pro: 4g (0.14oz)
* Hitec HS-55 Servo: 8g (0.28)
* Brushless Outrunner 250W: ~90g (~3oz)
* FunJet assembled, no hardware: 165g (5.82oz)
* FMA Encore 5ch Receiver: 11g (0.40oz)
* Castle Creations Phoenix 35: 24.5g (0.9oz)

Gallery

2008-02-15T22:25:40Z

AntonK:

== User's Gallery ==
=== User's Gallery ===
{|
|-valign="top"
|
<gallery caption="Paparazzi Aircraft">
Image:early_twinstar.jpg|Early Twinstar Antoine Drouin and Pascal Brisset
Image:glotzer.jpg|Glotzer Martin Mueller and Christian Lindberg
Image:Dragonfly_0626.jpg|Dragonfly University of Arizona Span 30cm, mass 220g
Image:DragonSlayer_0948sm.jpg|Dragon Slayer Miraterre Flight Systems Span 33cm, mass 300g
Image:Twinstar_2_Twinjet_night.JPG|Night-equipped Twinstar and Twinjet Antoine Drouin and Pascal Brisset
Image:Orange_One_0999.jpg|M.A.C. Orange One Martin Mueller and Christian Lindberg
Image:slayer_twinstar_ii.jpg|Slayer and Twinstar The Twinstar performs an autonomous aerial launch of the Slayer
Image:Sephiroth_Pre-Paparazzi.jpg|Sephiroth P-51 Mustang, off-board video processing for horizon-based stabilization
Image:Triple-X.JPG|Triple-X Prototype Miraterre Flight Systems Span 90cm, mass 1400g
Image:Cybereye.jpg|CyberEye Miraterre Flight Systems Span 130cm, mass 2kg
Image:osamuavs.jpg|Two Zagi's, and Aggiebird Wing Spans 48", 60", and 100" OSAM-UAV Team
Image:nova1.jpg|NoVa Quadrotor AJ Kochevar Attitude Stabilized quadrotor using Tiny 2.0
</gallery>
|

|}

== Flight competitions ==
=== MAV07 ===
; Toulouse, France, (September 19th - 22nd, 2007)
* 1st place (shared): Paparazzi ''Dragon Slayer''
* 1st place (shared): Micropilot ''Ping Wing''
* 3rd place : Paparazzi ''Tyto'' (Supaero)
* 4th place : Paparazzi ''MAC 07'' (Martin Muller Engineering)
* 5th place : Paparazzi ''Storm1'' (Murat Bronz)
{|
|-valign="top"
|
<gallery caption="MAV07, Toulouse">
Image:Slayer-105416sm.jpg|Dragon Slayer Miraterre Flight Systems
Image:Twisted_1413sm.jpg|Twisted Logic Miraterre Flight Systems
Image:Storm1.jpg|Storm1 Murat BRONZ
Image:Pingwing.jpg|Ping Wing Sweden
Image:Tyto.jpg|Tyto Supaero
</gallery>
|}

=== MAV06 ===
; Sandestin, Florida, USA (October 29th - November 2nd, 2006)
* 1st place : Procerus Kestrel (Bringham Young University)
* 2nd place : Paparazzi ''Dualing Slayers'' (ENAC / Miraterre)
* 3rd place : Paparazzi ''Black One'' ("fake" Martin Muller Engineering)
{|
|-valign="top"
|
<gallery caption="MAV06, Florida">
Image:MAC-OrangeOne-MAV06.jpg|Orange One Martin Mueller and Christian Lindberg
Image:MAC-BlackOne-MAV06.jpg|Black One Martin Mueller and Christian Lindberg
Image:ENAC-Planning-MAV06.jpg|ENAC Team
Image:Slayers-MAV06.jpg|Dragon Slayers Slayers acquiring GPS fix 
Image:Michel_vs_Slayer-MAV06.jpg|Catch! Michel bravely catching the Slayer in an autonomous landing 
Image:BYU-MAV06.jpg|BYU's Winning Design BYU used the Procerus Kestrel autopilot 
</gallery>
|}

=== EMAV2006 ===
; Braunschweig, Niedersachsen, Germany (25-26 July 2006)
* 1st place : Paparazzi ''DragonSlayer/BlackOne/Microjet''
* 2nd place : Paparazzi ''JeanMav360''

{|
|-valign="top"
|
[[Image:emav2006_paparazzies.jpg|thumb|left|EMAV06 Paparazzi Team]]
 
|}

=== MAV05 ===
; Garmisch-Partenkirchen, Bavaria, Germany (17-23 September 2005)
* 1st place : Paparazzi ''Dragonfly''
* 2nd place : Paparazzi ''Glotzer''
* 3rd place : Paparazzi ''Plaster''
* 4th place : Paparazzi ''Plaster duo''

{|
|-valign="top"
|
<gallery caption="MAV05, Germany"
Image:MAV05_paparazzies.jpg|The Paparazzi teams in Garmisch
Image:mav05_dragonfly.jpg|Dragonfly ''University of Arizona''
Image:mav05_depronazzi.jpg|Glotzer ''Martin Mueller and Christian Lindberg''
Image:mav05_ladybug.jpg|Ladybug ''ENAC''
Image:mav05_enac.jpg|ENAC Team
</gallery>
|}

=== 4eme Journées microdrones ===
; Toulouse, France ( 15 septembre 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
| [[Image:Paparazzi_Equiped_Aircraft.jpg|thumb|left|Microjet]] 
|}

=== EMAV2004 ===
; Braunschweig, Niedersachsen, Germany (13 July 2004)
* 1st place : Paparazzi ''Microjet''

{|
|-valign="top"
|
<gallery caption="EMAV2004">
Image:emav04_01.jpg|The Paparazzi team
Image:emav04_02.jpg|Spectators
Image:emav04_03.jpg|Automatic tracking antenna
</gallery>
|}

=== EMAV2003 ===
; Toulouse, France ( 3 october 2003)
* 1st place : Paparazzi ''Twinstar''

{|-valign="top"
|
<gallery caption="EMAV2003">
Image:emav03_01.jpg|Twinstar ready for flight
Image:emav03_02.jpg|Paparazzi team
</gallery>
|
|}

User:AntonK

2006-12-08T05:24:59Z

AntonK:

Im Anton. I like long walks on the beach and ..... Just kidding. Well Im 24 and been working on Paparazzi since September 2004. I met Pascal and Antoine at the Toulouse competition, where I fell in love with their autopilot while they fell in love with our planes. Since then I have tried to help grow paparazzi and get more people involved. In Fall of 2005 I helped Jeremy form Miraterre Flight Systems and continue to do contract work for him. Im the "software" guy and so Im a good guy to bug before you go looking for Antoine. My next adventure is to work on a quadrotor. Antoine has been nice enough to supply me with hardware, and now I hope to do fun things with the quad and test silly ideas.

User talk:AntonK

2006-12-08T05:17:14Z

AntonK:

Me, This is Me.