Paparazzi, An Open Source UAV for Research
summary
Paparazzi is an open-source autopilot (GPLv2) that embeds a full flight-plan language compiled to C onboard so mission logic, safety checks and dynamic queuing run without ground intervention; XML-configured modes generate the exact control stack for each aircraft. Hardware includes custom boards such as taaki (STM32 F7) and sensor packs; control experiments show model-free and IND controllers rejecting gusts far better than PID. Multirotor tests reveal a Y-frame keeps flying after any motor loss but only achieves ~60% of the star-frame flight time. Real-world cloud campaigns (3 weeks in Barbados) lose one plane and have one damaged unit.
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chapters (21)
- 0:00Introduction
- 0:14What is Paparazzi
- 5:14UAV Architecture
- 7:23Flight Controller
- 10:20Why Paparazzi
- 15:42In practice
- 19:24Modes
- 21:40Hardware
- 23:28Research
- 25:14Modelling
- 29:25NDI
- 30:46Formation Control
- 32:11Propellers
- 34:20HMI
- 35:57HMI for people with limited capabilities
- 36:59Cloud Exploration
- 38:05Cloud Sensors
- 40:18Flight Campaign
- 41:33Future Challenges
- 42:23Safety
- 44:21Conclusion
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