The Paparazzi Platform Flexible, Open-Source, UAS Software and Hardware esden, dotAero, misterj, cifo Outline • History, User Community, Competitions & Missions • Software • Hardware • Example Vehicles • Demos Who are we? Who is Paparazzi? Micro unmanned aerial vehicle framework http://paparazzi.enac.fr Why do I care? We're not going to preach the advantages of autonomous or RC vehicles - you know this already. Paparazzi: - Innovative - Competitive - Hugely flexible "Many start Paparazzi as UAV hobbyists and leave as professionals!" History The journey started in 2003 Pascal Brisset & Antoine Drouin History Ecole Nationale de I'Aviation Civile fENAC Toulouse, France History Over 60 developers contributing code several hundred users from 18 countries and counting "0 341 Involved Universities STANFORD UNIVERSITY TJ-J£ UN)V£ RSITY •/ADELAIDE The University of Arizona, Tucson Arizona ^ N 1 *? TU Delft Delft University of Technology ENAC UNIVERSITE DE SHERBROOKE Competitions JMD03, Toulouse, France : 1st place with the Twinstar EMAV04, Braunschweig, Germany : 1st place with the Microjet JMD04, Toulouse, France : 1st place with the Microjet MAV05, Garmisch, Germany : 4 Paparazzi teams at the first 4 places EMAV06, Braunschweig, Germany : all the teams were equipped with Paparazzi MAV06, Sandestin, Florida : 2nd and 3rd places MAV07, Toulouse, France : 1st place (tie), 3rd, 4th and 5th places OC09, Queensland, Australia : 1st place robot airborne delivery challenge IMAV2011, Harde, Netherlands : 2nd place outdoor challenge DARPA UAVForge 2011-12 : 3rd place Missions 201 1 Antarctica Finnish Meteorological Institute Missions 2012 Southern Madagascar multi university Software - Overview • Airborne and Ground Segments • Reconfigurable multi-agent system, small programs perform simple tasks Software - Overview Communications between the Paparazzi agents Aircraft Sends telemetry messages Receives datalink messages 1 datatink __ Wireless link Data is sent with messages divided into 3 classes: - telemetry - ground - datatink telemetry link Connects a hardware wireless device to the network gcs Displays graphic data Controls the datalink telemetry ground ground Ground network telemetry ground ground mess ages (debug) Display network messages server Logs raw messages Dispatches synthetic messages J Software - Ground Segment Software - Ground Segment Reconfigurable Ul (XML) GCS Nm Maca -tip ■ ■31 ^ | WGSI4 C |«.4630H 1272Mi|lS3 ; 00:01:13 12.1nU5 62% standby mr But Status AQt flint* A j- TTmc 01:14 _ V 1 " stacj* 01:14 £ffl N/A ^ ^ ^ -5.1 Mark /Target -Sim 327m .' JBOm ;..-,< ALT02 IV, £ a c? o Flight PLan UPS PFD Mis; Settings T "> v flidhtjilan > headir |> waypciints exceptions v- L i > > block P bl-o-izk i> block ■■> \A...y-. name- "Basic" l&no-"l.27ZB9" ma* dist fr> Wait GPS Gte mrt Holdinq colnt Takeoff 21:35 52 UL Hodmj point 22 35 S2 FJ1. AUT0J 22:35 52 FJL. mavdiv. kill mods 22:36 OB FJL. Takeoff 22:36 13 FJL. Standby Software - Airborne Segment • Modules allow easy addition or replacement of functionality • Supports a multitude of sensors and actuators • XML-based automatic code generation allows quick code adaptation for different vehicle configurations Software - Airborne Segment • Complementary and Kalman filter-based estimators • PID, PID with FF and adaptive controllers for attitude, altitude and position control Software - License Free as in Freedom http://paparazzi.github.com Software - Demo • Flight in simulator • Pray to Demo Gods Hardware - Overview Classix ARM7 Booz ARM7 Tiny ARM7 Lisa/L ARM Cortex-M3 ARM Cortex-A8 Umarim ARM7 Lisa/M ARM Cortex-M3 Hardware - Architectures • A//? Atmega 8MHz (Dropped 2010) • ARM 7 TDMI 60MHz (Stable) • ARM ^ -M3 72MHz (Stable) • ARM -M4 168MHz+DSP (Upcoming) Mm 1B> mm Hi I Low-Power Leadership from ARM \ | M M Hardware - Sensors Developed by the Paparazzi Community OSHW IR Sensor Booz IMU Aspirin IMU Third party hardware Sparkfun IMU Polulu IMU Cloudcap IMU VectorNav IMU XSens IMU Hardware - System Example Actuators Avionics Left Elevon , Servo Right Elevon, Servo Left W Right w Bottom Left W Bottom Right W'- Brushless Motors Motor Controllers 3 y. <3 v'i Lisjjpc 3 x AccElercmDler 3 x Magnetometer \sP!/I2C 7 \ \ Serial/ \Seriaf\ 4m XBee Primary Secondary Airborne RC RC Transceiver Receiver Receiver -J i A Ground Segment / Telemeiry /Remote ' Control Z~ LPSB Ground Control Station XBee Ground Transceiver RC Transmitter Hardware Free Software ■ Free as in Freedom Hardware - Example Vehicles Fixed Wing Dragon Slayer Miraterre Flight Systems UMARS Perching Airplane zhaw BDML Zurich Switzerland Stanford CA US Hardware - Example Vehicles M u Iti rotor/Rotorcraft Quady Variable-Pitch Quad Booz Hexa V Transition Robotics Eric Parsonage Antoine Drouin Hardware - Example Vehicles Transitioning Aircraft Quadshot Atmov Transition Robotics Atmos TU-Delft Hardware - Demo • Pray to Lithium-Polymer Gods • In the front row? o Look for a helmet under your seat o Just kidding