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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>December 27, 2007</h3>
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| style="color:#000"| [[Image:Ricou.jpg|thumb|left|Paparazzi Control Station next to Toulouse, France]] From the [http://events.ccc.de/congress/2007/Fahrplan/events/2225.en.html 24C3 conference], Paparazzi aircraft operated in Hildesheim, Germany and in Castagnac, France (the station in Istanbul, Turkey was lacking a security pilot) were remote controlled in real time by Martin and Antoine. The three local ground control stations and the remote one in Berlin were connected to a central server (located in Germany). Video from the 3 aircraft was also visible from the conference room in real-time. A great team work and ... a lot of fun. See [http://www.recherche.enac.fr/wiki/index.php/Media news section] for some press coverage. The session video can be found in the [http://events.ccc.de/congress/2007/Conference_Recordings conference recordings]. Actually they are hard to find (lecture #2225). Try this [http://thematrix-reloaded.de/24c3/day1/saal2/2225-autopilot.asf part1] [http://thematrix-reloaded.de/24c3/day1/saal2/2225-autopilot-b.asf part2] as a start. There are some stream hickups in the beginning, try to download it as a whole and then play it, maybe do some fast forward for the first slides. Hopefully there will be a better official stream soon. This are the presentation [http://events.ccc.de/congress/2007/Fahrplan/attachments/1033_paparazzi.pdf slides].
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|<h3>December 13, 2007</h3>
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| style="color:#000"| [[Image:Tiny_v2_1_Funjet.jpg|thumb|left|Tiny v2.1 in a Funjet]] The new [[Tiny_v2|Tiny 2.1 autopilot]] nicely flew in a Funjet for the first time.
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|<h3>September 21<sup>st</sup>, 2007</h3>
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| style="color:#000"| [[Image:Antoine-Storm1.jpg|thumb|left|Antoine launching the Storm1]]
[http://www.mav07.org/ MAV 07] was yet another great success for the project!  Paparazzi teams took 1<sup>st</sup>, 3<sup>rd</sup>, 4<sup>th</sup>, and 5<sup>th</sup> places in the outdoor autonomous surveillance competition and were honored to share the 1<sup>st</sup> place award with the very well designed Micropilot-equipped 48cm Ping Wing from [http://www.ida.liu.se/~patdo/linklabsite/uavactivities/index.html Linköping University] in Sweden. <br>
The first Paparazzi helicopter, [[Gallery#MAV07|Twisted Logic]] proved that a passively stable helicopter could operate well in mild outdoor winds and also took 2<sup>nd</sup> place in the indoor competition, surpassed only by the "Father of passively stable helicopters", world famous Petter Muren of [http://www.proxflyer.com/ Proxflyer] and [http://www.rctoys.com/rc-toys-and-parts/BR/RC-HELICOPTERS-BLADERUNNER.html BladeRunner] fame.<br>[http://pfump.org The team] of Christian Lindenberg and (fake) Martin Müller also won the special award from the jury for it general performance and fair spirit.
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|<h3>September 17th, 2007</h3>
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| style="color:#000"| [[Image:yarasa.jpg|thumb|left|[http://www.mav07.org/ MAV 07]]][http://www.mav07.org/ MAV 07] will be held in Toulouse, France (of course!) September 17-21, 2007.  Expect to see lots of great Paparazzi systems kicking ass and taking names!


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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>August 28, 2007</h3>
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| style="color:#000"| [[Image:Paul_MacCready.jpg|thumb|left|Paul MacCready<br>1925-2007]][http://www.avinc.com/dr.maccready.asp Dr. Paul MacCready], legendary aeronautical engineer and founder of [http://www.avinc.com Aerovironment], died in his sleep at the age of 81. Many of us met him met him in 2005 at [[Gallery#MAV05|MAV05]] in Germany but all of us are familiar with his incredible body of work ranging from the [http://www.donaldmonroe.com/gossamer_condor_photography first human powered aircraft], to the [http://americanhistory.si.edu/onthemove/collection/object_362.html GM Sunraycer] electric car, and the world altitude record holding [http://www.space.com/businesstechnology/technology/helios_launch_010814.html Helios].  MacCready was a world champion sailplane pilot, holds a Cal Tech Ph.D. in aeronautics, has been granted 7 honorary degrees, and has contributed a total of 4 aircraft and one car to the permanent collection of the [http://invention.smithsonian.org/resources/online_articles_detail.aspx?id=349 Smithsonian Institution].  He founded Aerovironment in 1971, the world's largest supplier of hand-launched UAVs.


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{{P Header Box|color=#D51D00|size=100%|<center>Legal Disclaimer</center>}}
|<h3>August 21th, 2007</h3>
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| style="color:#000"| [[Image:kerlingafjoll.jpg|thumb|left|Flying south west of the Hofsjökull glacier]]Three Paparazzi equipped Funjets were part of the [http://www.flohof.uib.no/ Flohof] measurement campaign around the Hofsjökull glacier on Iceland. We were able to measure temperature, humidity, pressure and estimate the wind. The authorities issued a NOTAM, clearing the airspace up to 12.000 feet which allowed us to set a new Paparazzi altitude record.


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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>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. It's such a shame that multiplex stoped producing microjets..... they didn't even ask us :(


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|<h3>February 5th, 2007</h3>
{{P Topic Table|{{P Header Box|ico=favicon32.png|[[General]]}}
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{{:General/Index}}
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{{P Header Box|ico=Gear.png|[[Hardware]]}}
[[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 ?
{{: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}}


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{{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>


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|[[News Archives]]
{{P Header Box|ico=Video.png|Video Collection}}
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<center>{{#ev:youtubeplaylist|PLekU8nVT6qLm3oOudER7WVuj2plH_aU4u}}</center>
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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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