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{|style="border-spacing:8px;margin:0px -8px" class="MainPageBG" style="width:100%;border:1px solid #9999bf;background-color:#f5fffa;vertical-align:top;color:#000; text-align: left;"
[[Image:Welcome to paparazziuav.png|600px|center]]
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|align="center" colspan="2"| <h2 style="margin:0;background-color:#82add9;font-size:150%;font-weight:bold;border:0px solid #a3bfb1;text-align:center;color:#ffffff;padding:0.2em 0.4em;">Welcome To Paparazzi</h2>
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[[Image:favicon32.png|32px]] [[General|General]]
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[[Image:favicon32.png|32px]] [[Hardware|Hardware]]
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[[Image:favicon32.png|32px]] [[Software|Software]]
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[[Image:favicon32.png|32px]] [[Miscellaneous|Miscellaneous]]
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{{Miscellaneous}}
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{|width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa"
|-valign="top"
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi Project</h2>
|-
|style="color:#000"|'''Paparazzi''' is a free and open-source hardware and software project intended to create an exceptionally powerful and versatile autopilot system for fixedwing aircrafts as well as multicopters by allowing and encouraging input from the community. The project includes not only the airborne hardware and software, from voltage regulators and GPS receivers to [http://en.wikipedia.org/wiki/Kalman_filtering Kalman filtering] code, but also a powerful and ever-expanding array of ground hardware and software including modems, antennas, and a highly evolved user-friendly ground control software interface.
|-
|All hardware and software is open-source and freely available to anyone under the [http://www.gnu.org GNU] licencing agreement. [[Get_Hardware| Several vendors]] are currently producing and selling Paparazzi autopilots and popular accessories, making the system easy and affordable to all.
|-
|The key feature of the paparazzi autopilot is its unique combination of inertial measurement and/or infrared thermopiles for attitude sensing, providing a robust and accurate attitude estimate that requires no ground calibration and can recover from any launch attitude.
|-
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">The Paparazzi project at ENAC</h2>
|-
|The Paparazzi [http://en.wikipedia.org/wiki/Unmanned_Aircraft_System UAS] project is now being used and developed at [http://www.enac.fr/ ENAC University] and the MAVlab of the TU-Delft.
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|style="color:#000"|
* [http://paparazzi.enac.fr/debian/ Debian repository] and [https://launchpad.net/~paparazzi-uav/+archive/ppa Ubuntu repository] containing some packages not in the official distribution and required to run Paparazzi.
|-
| <h2 style="margin:0;background-color:#ff9b00;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">Legal disclaimer</h2>
|-
|The Paparazzi software and hardware are distributed without any guarantee, in particular they are not certified by any national or international authorities. Before flying, please refer to your country national aviation regulation for Unmanned Aerial Systems, or the one of the country you intend to overfly.
|}
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#eaf5ff;border:1px solid #9dcef2; text-align: justify;"
| <h2 style="margin:0;background-color:#9dcef2;font-size:120%;font-weight:bold;border:1px solid #8fa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">Upcoming</h2>


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<center>{{Hotbar}}</center>
|<h3>July 26th, 2012</h3>
|-
|[[Image:Dc20-logo_smsq.png|100px|thumb|left|DefCon 20]]


See you at the [https://www.defcon.org/html/defcon-20/dc-20-index.html DefCon 20] conference in Las Vegas, USA from July 26th - 29th 2012.
'''[http://paparazziuav.org Paparazzi UAV]''' (Unmanned Aerial Vehicle) is an open-source drone hardware and software project encompassing autopilot systems and ground station software for multicopters/multirotors, fixed-wing, helicopters and hybrid aircraft that was founded in 2003. [http://paparazziuav.org Paparazzi UAV] was designed with autonomous flight as the primary focus and manual flying as the secondary. From the beginning it was designed with portability in mind and the ability to control multiple aircraft within the same system. Paparazzi features a dynamic flight plan system that is defined by mission states and using way points as “variables”. This makes it easy to create very complex fully automated missions without the operators intervention. For more project information, [[General|see here]].


|}
{{P Header Box|color=#D51D00|size=100%|<center>Legal Disclaimer</center>}}
{| width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#faf5ff;border:1px solid #ddcef2; text-align: justify;"
| <h2 style="margin:0;background-color:#ddcef2;font-size:120%;font-weight:bold;border:1px solid #afa3bf;text-align:left;color:#000;padding:0.2em 0.4em;">News</h2>


|-
The Paparazzi software source and hardware design is distributed without any guarantee. Before flying, please refer to your country's national aviation regulation for Unmanned Aerial Systems, or the one of the country you intend to overfly.
|<h3>July 26th, 2012</h3>
|-
|[[Image:penguin_logo.gif|thumb|left|Paparazzi<br>The Free Autopilot]]


<span style="color:red">'''NEW RELEASE!'''</span>
<!-- Left column start -->
{{P Topic Table|{{P Header Box|ico=favicon32.png|[[General]]}}
{{:General/Index}}
{{P Header Box|ico=Gear.png|[[Hardware]]}}
{{:Hardware/Index}}
{{P Header Box|ico=Code.png|[[Software]]}}
{{:Software/Index}}
{{P Header Box|ico=favicon32.png|[[Miscellaneous]]}}
{{:Miscellaneous/Index}}
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|{{P Release|v6.4.0_stable|v6.4}}


The Paparazzi Development Team is pleased to announce the release of the '''Paparazzi v4.0 stable''' version.
<!-- Blog posts -->
{{P Header Box|ico=RSS.png|[http://blog.paparazziuav.org Paparazzi UAV Blog]}}
<rss max=10 item-max-length="1000">http://feeds.feedburner.com/PaparazziBlog</rss>


After several months of testing and debugging, the [[RepositoryStructure|release preparation branch v3.9]] has been released as v4.0. See the [https://github.com/paparazzi/paparazzi/blob/v4.0/CHANGELOG.md changelog] for an overview of new features and bugfixes.
<!-- Youtube Video Playlist -->
{{P Header Box|ico=Video.png|Video Collection}}


If you are already using paparazzi with [[Git]], you can switch to this new branch with
<center>{{#ev:youtubeplaylist|PLekU8nVT6qLm3oOudER7WVuj2plH_aU4u}}</center>


'''<code>git checkout -b v4.0 v4.0</code>'''.
}}
 
For new user, it will be the default branch when getting the [[Installation#Getting_the_Source_Code|source code from Github]]. You can also download a [https://github.com/paparazzi/paparazzi/tarball/v4.0_stable tarball] or [https://github.com/paparazzi/paparazzi/zipball/v4.0_stable Zip file] of the <tt>v4.0_stable</tt> source code.
 
|-
|<h3>July 2-6th, 2012</h3>
|-
|[[Image:Blender_at_IMAV2012.JPG|thumb|left|Blender: 312mm / 340g]]
 
'''Blender''', the small but deserving quadrotor of ENAC Paparazzi Team took the 1st place in "Outdoor autonomy" and 3rd place in "Outdoor dynamics" during [http://www.imav2012.org/ IMAV2012] competition in Braunschweig (Germany).  Completing its missions with overflowing enthusiasm thanks to the new [[NavGo_v3|'''NavGo''']] autopilot. NavGo is the latest in the long line of award winning Paparazzi hardware available. See the list of Paparazzi hardware [[Autopilots |here]].
 
 
|-
|<h3>July 6th, 2012</h3>
|-
|[[Image:Atmos.png|thumb|left|[ATMOS|http://www.teamatmos.nl/]]]
 
 
'''[http://www.teamatmos.nl/ ATMOS]''', a hybrid [http://www.teamatmos.nl/video airplane-quadrotor] developed at the MAVlab of TU-Delft, was awarded third place (out of 140) in the [http://www.uavforge.net/ UAVForge] Competition. There were more than 140 initial [http://www.uavforge.net/uavhtml/milestones.php contestants] and after several selection rounds with only 12 finalists, the paparazzi [[Lisa/M]] powered [http://www.teamatmos.nl/ ATMOS] was one of the few that could actually make it to the remote target site miles away in an RF unfriendly environment. No team fully completed the baseline objectives which is why no prices were issued. The vertical takeoff and landing, together with long range thanks to the wing and flexibility thanks to opensource paparazzi were key factors in this event [http://www.youtube.com/watch?v=81NvfLFzhqQ].
 
But probably more important, the development of [http://www.teamatmos.nl/ ATMOS] has added a new [https://github.com/tudelft/paparazzi/tree/atmos-master4-flyoff code-base] to paparazzi to enable the control of any hybrid [https://github.com/tudelft/paparazzi/blob/atmos-master4-flyoff/sw/airborne/firmwares/rotorcraft/force_allocation_laws.c multi-lifting] device vehicle. ATMOS can take-off vertically as a quadrotor, transition to full forward flight as an airplane but also fly in any intermediate transition stage fully autonomously. So let your imagination go loose!
 
|-
|<h3>May 9th, 2012</h3>
|-
|[[Image:Git-Logo-2Color.png|thumb|left|[[RepositoryStructure|New git branching model]]]]
 
'''In order to improve the development workflow and provide stable releases we have changed our git branching model.'''
 
<span style="color:red">'''The branch "master" is now our development branch.'''</span>
 
* The "dev" branch was renamed to the release preparation branch "v3.9". Switch to this branch if you want stable code.
* "master" was reset to the previous "locm3" branch, where development will happen now with libopencm3 for the STM32 architecture.
 
Please see the [[RepositoryStructure]] page for more details.
 
As soon as we are ready to release v4.0 the will be tarballs available if you don't want to use [[Git]].
 
|-
|<h3>May 8th, 2012</h3>
|-
|[[Image:Youtube.png|thumb|left|[http://www.youtube.com/playlist?list=PL91197EBE66E78E38 link to youtube video collection]]]
 
A lot of cool stuff is done with paparazzi driven UAV`s
To share the world what the paparazzi community is doing a [http://www.youtube.com/playlist?list=PL91197EBE66E78E38 youtube video play list] generated. If you want your video in there send a youtube link to the mailing list.
 
|-
|<h3>April 9th, 2012</h3>
|-
|[[Image:Mini-Horus_Launch_in_Mada.jpg|thumb|left|Take off in Madagascar]]
 
In March 2012, Paparazzi flew in southern Madagascar in the frame of a multi-university project to study and improve the ecosystem in one of the poorest regions of the world ([http://www.sulama.de Project]). More than 4000 hectares of farm and grassland were photographed in visible and near infrared spectra. More than 8500 photos were taken. Surely one of the biggest missions for science ever flown with Paparazzi.
 
|-
|<h3>March 7th, 2012</h3>
|-
|[[Image:Sumo_launch.jpg|thumb|left|Take off in Antarctica]]
 
In the Antarctic summer of 2011/2012 two teams flew Paparazzi-driven UAS on the southernmost continent. The University of Bergen flew at the Norwegian Troll station ([http://www.youtube.com/watch?v=0T9fyCNLllI video]) and the University of Colorado near the US McMurdo station ([http://dl.dropbox.com/u/53700947/Antarctic_blog/blog_20120124.htm blog], [http://alices-wonderland-adventures.blogspot.com/2012/01/uav-flights-take-2.html blog]). They measured temperature, humidity, pressure, infrared radiation and wind with a Multiplex Funjet plane.
 
|-
|<h3>December 26th, 2011</h3>
|-
|[[Image:28C3_logo.png|thumb|left|Paparazzi at 28C3]]
 
We had a table at the [http://events.ccc.de/congress/2011/wiki/Welcome 28C3] conference.
 
|-
|<h3>December 25th, 2011</h3>
|-
|[[Image:Cre187-paparazzi.png|thumb|left|CRE187 - Paparazzi]]
 
Martin Müller gave a great interview about the history and the inner workings of Paparazzi on [http://cre.fm/cre187 CRE Podcast].
 
|-
|<h3>October 5th, 2011</h3>
|-
|[[Image:Umarim_v1-0_bottom_side.jpg|thumb|left|Umarim v1.0]]
 
ENAC Team [http://paparazzi.enac.fr/wiki/Umarim_v10 Umarim V1.0 autopilot] is now released: LPC based, on-board IMU & barometer, narrow fuselage form factor (56x25mm) and lightweight (9gr) are its main features. Add your favorite GPS receiver and it will fit in your stupidly thin light UAV prototype. But it will also do the job for a big fat one. [http://paparazzi.enac.fr/wiki/Umarim_v10 More info here...]
 
|-
|<h3>September 18th, 2011</h3>
|-
|[[Image:enac_imav11_1.jpg|thumb|left|IMAV 2011 Outdoor Competition ]]
 
This year [http://www.imav2011.org/ IMAV 2011] went really well for all of the participants, we have seen lots of successful flights. ENAC Paparazzi Team took the  2nd place in general "Outdoor Challenge"  and [http://paparazzi.enac.fr/wiki/Fire-Storm Fire Storm] demonstrated 105+ minutes of flight and took the "Best Outdoor Endurance Award". He was waiting this day for 2 years since the cancelation of IMAV09.
As an additional information, Fire Storm flew its endurance mission with the new [http://paparazzi.enac.fr/wiki/Umarim_v10 Umarim V1.0] autopilot board which will be released soon.
 
|-
|<h3>August 31st, 2011</h3>
|-
|[[Image:Quadshot_picture.jpg|thumb|left|The Quadshot]]
 
Paparazzi is used in the [http://thequadshot.com Quadshot]: A blend between a quadrocopter and a flying wing. The Quadshot and Paparazzi are also featured in an [http://revision3.com/hak5/backtothestudio episode of Hak5]. You can also skip directly to the [http://www.youtube.com/watch?v=YeP7MMnP33g interview with Piotr] talking about how Paparazzi is used in the Quadshot, and briefly [http://www.youtube.com/watch?v=ANPX3UwRMnw explains the XML airframe file and the GCS].
 
|-
|<h3>February 15th, 2011</h3>
|-
|[[Image:Finnarp.jpg|thumb|left|Paparazzi in Antarctica]]
 
Paparazzi has flown on the southernmost continent: Antarctica. Scientists from the [http://en.ilmatieteenlaitos.fi/press-release/127535 Finnish Meteorological Institute] took three modified Funjets to the Finnish Aboa station and brought them back safely after more than 25 flights. They measured temperature, humidity, pressure, wind direction and speed in altitudes up to 1000m.
 
|-
|<h3>February 10th, 2011</h3>
|-
|[[Image:ScreenShot.jpg|thumb|left|Paparazzi on OS X]]
 
Paparazzi now on OS X. Thanks to the tireless efforts of Eric and Bernard we can all run [http://paparazzi.enac.fr/wiki/InstallationMacOSX Paparazzi on OS X]. Stay tuned Windows fans. Paparazzi on Windows is coming soon.
 
|-
|<h3>November 26th, 2010</h3>
|-
|[[Image:Wingdrop.png|thumb|left|[http://www.youtube.com/watch?v=TFrognLZ2Ak wingdrop]]]
 
There is a [http://www.youtube.com/watch?v=TFrognLZ2Ak video] available that shows how Paparazzis adaptive control loops keep a Twinstar in the air that drops 30% of its right wing with 50% of the aileron and then also switches the right engine off. Another [http://www.youtube.com/watch?v=N0H9xWckeYQ video] shows a Paparazzi quadcopter using adaptive control to stay level after dropping 50% of its total weight.
 
|-
 
|-
|<h3>November 19th, 2010</h3>
|-
|[[Image:Github.png|thumb|left|[[Git]]]]
'''WE MOVED TO GIT!'''
 
The paparazzi software repository now has a new happy life on github:
 
'''https://github.com/paparazzi/paparazzi'''
 
We believe the switch from Subversion to the fast [http://git-scm.com/ git] version control system will make development easier, faster and more fun. It also makes it easier for YOU to contribute. You can easily fork paparazzi on github, commit your bugfixes and new features and send us a pull request.
 
More info on how to get the paparazzi code from github can be found [[Git|here]].
 
We also want to encourage you to submit bugs or feature requests on the simple [https://github.com/paparazzi/paparazzi/issues github issue tracker].
 
|
|-
 
 
|-
|<h3>August, 2010</h3>
|-
|[[Image:OrganizedCode.png|thumb|left|[[User/AirborneCodeReorg|Code Reorganization]]]]
After many years of development, so many new autopilot boards and aircraft types have been added that a [http://en.wikipedia.org/wiki/Source_code sourcecode] reorganization was needed. This undertaking is started and will simplify the continuous evolution of the project.
 
To benefit from these important changes, it only requires you to update your airframe configuration document once. After you have updated, you should not notice the significant reorganization that is going on behind the scenes. This change will benefit your aircrafts flying successfully for the years to come. The required changes are described on [[User/AirborneCodeReorg| Update Your Airframe Configuration]].
 
At this point several developments are blocked because of this. Therefor we kindly request you to upgrade your airframe configuration documents as soon as possible and thank you in advance for doing so.
 
|
|-
 
 
|-
|<h3>May 22th, 2010</h3>
|-
|[[Image:PascalTPS.jpg|thumb|left|[[Hecto| Pascal Brisset]]]]
Pascal Brisset, also known as Hecto, and the father of the Paparazzi project died in an accident while climbing in the Pyrénées mountains in the south of France.
He had dedicated the last seven years of his life to the success of the project. He was taking care by himself of a huge part of the project. To name only a few : development and maintenance of the entire ground segment, navigation and flight plan algorithms, code generation and build system, distribution packaging, server infrastructure...
 
To express your grief, you may want to [[Hecto| leave a note on his wiki page]]
 
In respect for his commitment, the Paparazzi project must go on and volunteers wanting to take over tasks are hereby asked to do so.
 
|
|-
 
 
|-
 
|<h3>February 19th, 2010</h3>
|-
|[[Image:Adler_c.jpg|thumb|left|[[Adler_Uni_Stuttgart| The 'Stuttgarter Adler']]]]
The [http://www.irs.uni-stuttgart.de Institute of space systems] of [http://www.uni-stuttgart.de/index.en.html University of Stuttgart] is using the paparazzi system for large remote sensing aircrafts.<br>
The missions include basic research and environmental monitoring. Payloads of up to 7kg are carried.<br><br>
More information can be found on the [[Adler_Uni_Stuttgart|Wiki page]].
|
|-
 
 
|-
 
 
|-
|<h3>[[News Archives]]</h3>
|-
| style="color:#000"|
[[Image:One_Small_Step.jpg|thumb|left|[[News Archives]]]] [[News Archives|Browse the archives]] for a look back at the earlier days of Paparazzi.
|-
 
|}
|}

Latest revision as of 07:11, 21 May 2024


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Paparazzi UAV (Unmanned Aerial Vehicle) is an open-source drone hardware and software project encompassing autopilot systems and ground station software for multicopters/multirotors, fixed-wing, helicopters and hybrid aircraft that was founded in 2003. Paparazzi UAV was designed with autonomous flight as the primary focus and manual flying as the secondary. From the beginning it was designed with portability in mind and the ability to control multiple aircraft within the same system. Paparazzi features a dynamic flight plan system that is defined by mission states and using way points as “variables”. This makes it easy to create very complex fully automated missions without the operators intervention. For more project information, see here.


Legal Disclaimer


The Paparazzi software source and hardware design is distributed without any guarantee. Before flying, please refer to your country's national aviation regulation for Unmanned Aerial Systems, or the one of the country you intend to overfly.


Favicon32.png General


Gear.png Hardware


Code.png Software


Favicon32.png Miscellaneous
Latest Stable Release: v6.4.0_stable

Semaphore CI Build Status
Download as tarball or checkout the v6.4 branch from git.
Releases can be found at https://github.com/paparazzi/paparazzi/releases



RSS.png Paparazzi UAV Blog

ENAC Team wins at IMAV2022
The International Conference and Competition on MAV was organized by TUDelft mid-September 2022. The ENAC took part to the outdoor competition, a package delivery challenge, with several multi-rotors and a hybrid tail-sitter, all powered by Paparazzi. They won the competition with a quite large amount of points. Nevertheless, all teams performed well with some innovative … Continue reading ENAC Team wins at IMAV2022 →
Gautier Hattenberger 2023-02-22 12:39:52
Paparazzi v5.18 is out, v6.0 is starting
The latest Paparazzi stable release is out today with many changes and addition since 5.16 one year ago. One of the biggest changes is the complete rewrite of the build system for the aircraft code generation (good old Ocaml stuff), plus the addition of a proper dependency resolution for the modules. It has no big … Continue reading Paparazzi v5.18 is out, v6.0 is starting →
Gautier Hattenberger 2021-04-13 11:47:01
3D Guiding for fixed-wing aircraft
Now, you can have your aircraft tracking a (smooth) 3D parametric trajectory.  This is an extension of the existing GVF in Paparazzi, in fact, now we allow even 2D trajectories with self-intersections. It is based on our accepted article in IEEE Transactions on Robotics Singularity-free Guiding Vector Field for Robot Navigation All the instructions to … Continue reading 3D Guiding for fixed-wing aircraft →
Hector Garcia de Marina 2020-12-08 20:32:10
Paparazzi at the SPLASH2020-REBASE Conference
The Paparazzi UAV System as a research tool will be presented as an invited talk at the SPLASH2020-REBASE conference (Mon 16 Nov 2020 18:00, Paris time). See the program of the conference for details. The presentation will be available on live and free youtube. https://2020.splashcon.org/details/splash-2020-rebase/19/Paparazzi-an-open-source-UAV-for-research UPDATE: the video of the conference is online
Gautier Hattenberger 2020-11-15 19:18:31
Flight Campaign at Barbados Island
Enac UAV lab have participated to an atmospheric research flight campaign at the Barbados Island for three weeks from end of January 2020.  This was part of a project called NEPHELAE in collaboration with the French National Meteorological Research Center from Météo-France and the robotics lab LAAS-CNRS. NEPHELAE is atmospheric science driven (with a focus … Continue reading Flight Campaign at Barbados Island →
Gautier Hattenberger 2020-03-04 10:35:30
Crazyflie v2.1 with Paparazzi onboard
The popular Open-Source platform Crazylie v2.1 from Bitcraze is now supported by Paparazzi. Only the main frame, with IMU, barometer as well as the NRF communication is working. A bridge between the Crazyradio and the Ivy bus allows the direct and easy connection of the Crazyflie to the ground station. More sensor decks will be … Continue reading Crazyflie v2.1 with Paparazzi onboard →
Gautier Hattenberger 2020-02-03 20:44:58
Running Paparazzi on Windows
Since there are many Windows users who like to try paparazzi on this popular OS and Microsoft introduced the possibility of running Ubuntu programs and tools on windows 10, now Paparazzi developer team is pleased to announce the initial release of the Windows10 support of Paparazzi. The installation process is not so much different from … Continue reading Running Paparazzi on Windows →
Gautier Hattenberger 2019-04-10 18:56:31
Paparazzi wins at IMAV2018
Enac UAV team and TUDelft MAVLAB team took part to the IMAV2018 conference and competition in Australia with great success! For the first time, the two academic lead developers of the Paparazzi UAV system join efforts to participate to the Outdoor competition and won this event far ahead. Several tasks have been completed, including a … Continue reading Paparazzi wins at IMAV2018 →
Gautier Hattenberger 2018-11-28 16:24:44
UAV Network Intrusion Detection with Wavelet-based Signature Analysis
This is a first step of a hybrid IDS method based on the analysis of spectral traffic and a robust controller / observer for the estimation of anomalies in UAV networks. This module is currently designed to observe the traffic between the drones and the Paparazzi GCS. It provides a statistic signature of the traffic … Continue reading UAV Network Intrusion Detection with Wavelet-based Signature Analysis →
Gautier Hattenberger 2018-06-21 14:29:55
Opening ENAC’s flying arena
Since the beginning of the year, ENAC (French Civil Aviation University) is equipped with a new facility dedicated to UAVs research and education. The building includes a flying arena with a size around 10x10x10 meters, several workshops for mechanics, electronic, composite, 3D printing and storage. It also includes a teaching room for automatic control and … Continue reading Opening ENAC’s flying arena →
Gautier Hattenberger 2018-06-15 21:25:04


Video.png Video Collection



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