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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;"
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|align="center" colspan="2"| <h2 style="margin:0;background-color:#82add9;font-size:150%;font-weight:bold;border:1px 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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{{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"
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| <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>
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|style="color:#000"|[http://www.nongnu.org/paparazzi Paparazzi] is a free and open-source hardware and software project intended to create an exceptionally powerful and versatile autopilot system 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.
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|All hardware and software is open-source and freely available to anyone under the [http://www.gnu.org GNU] licencing agreement. Efforts are currently underway to organize production and retail sales of the autopilot and popular accessories, making the system much easier and more affordable for all.
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|The key feature of the paparazzi autopilot is its unique combination of infrared thermopiles and inertial measurement for attitude sensing, providing a robust and accurate attitude estimate that requires no ground calibration and can recover from any launch attitude.
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| <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>
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|The Paparazzi mini UAV project is now being used and developed at [http://www.enac.fr/ ENAC University].
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* A [http://www.debian.org debian] [http://www.recherche.enac.fr/paparazzi/debian repository] containing some packages not in the official distribution and required to run Paparazzi.
* PaparazziX Knoppix based live CD is available from the [http://www.recherche.enac.fr/paparazzi/paparazzix paparazzix directory].
* Nightly and release [http://www.recherche.enac.fr/paparazzi/tarball tarballs].
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| <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>


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<center>{{Hotbar}}</center>
|<h3>March 1st, 2007</h3>
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| style="color:#000"| [[Image:jet_family.jpg|thumb|left|Part of the ENAC multiplex foamy fleet]]Sun is finally back. We took all those babies for a multiple aircrafts flight. From left to right : 600g minimag, 900g twinjet, 600g funjet and 350g microjet.


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'''[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]].
|<h3>February 5th, 2007</h3>
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| style="color:#000"|
[[Image:ant_tracker.jpg|thumb|left|[http://www.recherche.enac.fr/~poine/video/ant_tracker.mpeg Download the video]]]Jeremie Vacher, a student at ENAC, has developed a tracker for antennas. It is functionnal but still needs a little bit of polishing. Anybody interrested ?


{{P Header Box|color=#D51D00|size=100%|<center>Legal Disclaimer</center>}}


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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>December 7th, 2006</h3>
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[[Image:ahrs2fg.jpg|thumb|left|[http://www.recherche.enac.fr/~poine/video/ahrs2fg.mpeg Download the video]]]Antoine continues to make great progress toward the holy grail of 17 state inertial navigation and releases a [http://www.recherche.enac.fr/~poine/video/ahrs2fg.mpeg video] showing the performance of the 7-state [http://en.wikipedia.org/wiki/Kalman_filtering Kalman filtered] IMU providing the attitude-heading reference system [http://en.wikipedia.org/wiki/Attitude_and_Heading_Reference_Systems (AHRS)] on his quadrotor.  Note how much coffee was consumed in preparation for this video.  More info on the IMU is available on the [[Sensors|sensors]] page.  Also, be sure to admire the [http://cvs.savannah.gnu.org/viewcvs/paparazzi/paparazzi3/hw/sensors/ schematics] and [http://cvs.savannah.gnu.org/viewcvs/paparazzi/paparazzi3/sw/airborne/ source code]!


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|<h3>November 28th, 2006</h3>
{{P Topic Table|{{P Header Box|ico=favicon32.png|[[General]]}}
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{{:General/Index}}
| style="color:#000"| [[Image:Launch-20282.jpg|thumb|right|Michel Gorraz launches the ''Dragon Slayer'' for the ENAC team]]
{{P Header Box|ico=Gear.png|[[Hardware]]}}
Two Paparazzi teams, [http://www.enac.fr ENAC]/[http://www.miraterre.com Miraterre] and [http://pfump.org Martin Mueller/Christian Lindeberg] won 2nd and 3rd place at the [http://www.us-euro-mav.com MAV06 competition]. Unfortunately, both teams had insufficient video resolution to identify the 1.5m ground target required for high-scoring and the winning prize went to Bringham Young University who was able to identify 2 of the 3 targets with a Panasonic KX-141 camera and an unusually narrow 30 degree FOV lens. The Bringham Young team used the Procerus Kestrel autopilot (originally developed at the university) and obviously practiced video target recognition much more than the rest of us. <br />Flight performance and navigation for both ''Dragon Slayers'' and the ''Black One'' was exceptional as usual.  All planes performed flawless autonomous takeoffs and landings and the ''Slayer'' performed an autonomous paintball drop with wind-corrected precision that put the ball within 3 meters of the designated target from an altitude of 40 meters in a 5 m/s wind.  As luck would have it, the stress of managing two aircraft from a single ground station during an intense competition, aggravated by a misbehaving GPS in one of the planes that required a power and flight-plan reset just prior to launch resulted in us neglecting to re-input the target coordinates and the ball was dropped accurately on the ''default'' target location, not the actual target location provided by the judges just prior to flight.
{{:Hardware/Index}}
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{{P Header Box|ico=Code.png|[[Software]]}}
|See the complete [http://www.project240.net/photo/mav06/general.html MAV06 Photo Gallery]
{{:Software/Index}}
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{{P Header Box|ico=favicon32.png|[[Miscellaneous]]}}
|See you next year in [http://www.mav07.org Toulouse] for [http://www.mav07.org MAV07].
{{:Miscellaneous/Index}}
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| style="text-align: right;"|[[News_Archives|News Archives]]
|{{P Release|v6.4.0_stable|v6.4}}
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{{P Header Box|ico=RSS.png|[http://blog.paparazziuav.org Paparazzi UAV Blog]}}
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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


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