Open source autopilot for academic research - The Paparazzi system

Abstract

Paparazzi is a free and open-source hardware and software project intended to create a flexible autopilot system for fixed-wing aircraft as well as multicopters by allowing and encouraging input from the community. In addition to the airborne hardware and software (from voltage regulators, IMU boards and GPS receivers to Kalman filtering code), the project includes an ever-expanding array of ground hardware and software including modems, antennas and a user-friendly ground control software interface with a simulation environment. The airborne software supports several microprocessor architectures and various hardware configurations. All hardware and software is open-source and freely available to anyone under the GNU licensing agreement. Currently, the Paparazzi project is developed mainly at ENAC University (Ecole Nationale de l'Aviation Civile) and the TU-Delft, but significant amount of work done by various open-source enthusiasts. The system has been used on dozens of airframes and implemented by several teams around the world. Thousands of hours of autonomous flight have been successfully achieved with the Paparazzi system on all continents including the Antarctic.