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Build your own UAVA. Drouin, M. M¨ullerEcole Nationale de l’Aviation CivileDecember 2007A. Drouin, M. M¨uller ( Ecole Nati...
1 Overview2 Flight Presentation3 In Depth DescriptionHardwareSoftwareApplications4 ConclusionsA. Drouin, M. M¨uller ( Ecol...
OverviewUAVsA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 3 / 34
OverviewUAVsA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 3 / 34
OverviewUAVsA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 3 / 34
OverviewUAVsA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 3 / 34
OverviewUAVsA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 3 / 34
OverviewWhat it takesA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 4 / 34
OverviewUnmanned Aircraft SystemA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December ...
OverviewNetworked System to be demonstratedA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UA...
OverviewFlight PlanA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 7 / 34
OverviewFlight PlanA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 7 / 34
OverviewFlight PlanA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 7 / 34
OverviewFlight PlanA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 7 / 34
OverviewFlight PlanA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 7 / 34
OverviewGround control stationA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 20...
OverviewVideoA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 9 / 34
OverviewLet’s FlyA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 10 / 34
In Depth DescriptionHistoryA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 ...
In Depth DescriptionHistoryA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 ...
In Depth DescriptionHistoryA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 ...
In Depth DescriptionHistoryA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 ...
In Depth DescriptionHistoryA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 ...
In Depth DescriptionGoalsA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 12...
In Depth Description HardwareCOTSA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December...
In Depth Description HardwareRC Toy vs UAVA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV...
In Depth Description HardwareRC Toy vs UAVA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV...
In Depth Description HardwareRC Toy vs UAVA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV...
In Depth Description HardwareController boardA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own ...
In Depth Description HardwareInfrared Attitude MeasurementA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Bu...
In Depth Description HardwareInfrared Attitude MeasurementA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Bu...
In Depth Description HardwareInfrared Attitude MeasurementA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Bu...
In Depth Description HardwareInfrared ThermopileMLX90247 ThermopileOutput voltage proportional to radiating temperature of...
In Depth Description HardwareGPSA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December ...
In Depth Description HardwareDatalinkA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV Dece...
In Depth Description SoftwareNetworked ArchitectureA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build you...
In Depth Description SoftwareOnboard SoftwareProcessor Architecture Independantavr, arm7 and i386Board Configuration Indepe...
In Depth Description SoftwareFlight Plan LanguageA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your ...
In Depth Description SoftwareErgonomyA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV Dece...
In Depth Description SoftwareErgonomyA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV Dece...
In Depth Description SoftwareErgonomyA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV Dece...
In Depth Description SoftwareErgonomyA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV Dece...
In Depth Description SoftwareErgonomyA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV Dece...
In Depth Description SoftwareErgonomyA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV Dece...
In Depth Description SoftwareErgonomyA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV Dece...
In Depth Description SoftwareErgonomyA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV Dece...
In Depth Description SoftwareFlight Data AnalysisA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your ...
In Depth Description SoftwareFlight Data AnalysisA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your ...
In Depth Description ApplicationsMAV CompetitionsJMD03, Toulouse, France : 1st place with the TwinstarEMAV04, Braunschweig...
In Depth Description ApplicationsTeachingU. of ArizonaHS BremenIstanbul TUU. of SheffieldU. de SherbrookeSupaeroA. Drouin, M...
In Depth Description ApplicationsAeronautics/UAV researchA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Bui...
In Depth Description ApplicationsOther researchA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your ow...
In Depth Description ApplicationsOther researchA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your ow...
In Depth Description ApplicationsOperational applicationsA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Bui...
ConclusionsConclusionsTechnology is readyWide fields of applicationsReglementation is lagged ( RC / segregated airspace )In...
ConclusionsAcknowledgementsPascal BrissetA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV ...
ConclusionsAcknowledgementsPascal BrissetMurat BronzA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build yo...
ConclusionsAcknowledgementsPascal BrissetMurat BronzMichel GorrazA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civ...
ConclusionsAcknowledgementsPascal BrissetMurat BronzMichel GorrazAnton KochevarA. Drouin, M. M¨uller ( Ecole Nationale de ...
ConclusionsAcknowledgementsPascal BrissetMurat BronzMichel GorrazAnton KochevarChristian LindenbergA. Drouin, M. M¨uller (...
ConclusionsAcknowledgementsPascal BrissetMurat BronzMichel GorrazAnton KochevarChristian LindenbergArnold Schr¨oterA. Drou...
ConclusionsAcknowledgementsPascal BrissetMurat BronzMichel GorrazAnton KochevarChristian LindenbergArnold Schr¨oterJeremy ...
ConclusionsAcknowledgementsPascal BrissetMurat BronzMichel GorrazAnton KochevarChristian LindenbergArnold Schr¨oterJeremy ...
ConclusionsFurther Informationshttp://paparazzi.nongnu.orghttp://paparazzi.enac.frirc://irc.freenode.net/#paparazziA. Drou...
ConclusionsQuestionsA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 33 / 34
ConclusionsA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 34 / 34
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Paparazzi - The Free Autopilot [24c3]

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A presentation by Martin Müller and Antoine Drouin, at the 24th Chaos Communication Congress, Berlin, December 2007.

http://events.ccc.de/congress/2007/Fahrplan/events/2225.en.html
http://www.youtube.com/watch?v=1ei7pkPGkAA

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Paparazzi - The Free Autopilot [24c3]

  1. 1. Build your own UAVA. Drouin, M. M¨ullerEcole Nationale de l’Aviation CivileDecember 2007A. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 1 / 34
  2. 2. 1 Overview2 Flight Presentation3 In Depth DescriptionHardwareSoftwareApplications4 ConclusionsA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 2 / 34
  3. 3. OverviewUAVsA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 3 / 34
  4. 4. OverviewUAVsA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 3 / 34
  5. 5. OverviewUAVsA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 3 / 34
  6. 6. OverviewUAVsA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 3 / 34
  7. 7. OverviewUAVsA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 3 / 34
  8. 8. OverviewWhat it takesA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 4 / 34
  9. 9. OverviewUnmanned Aircraft SystemA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 5 / 34
  10. 10. OverviewNetworked System to be demonstratedA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 6 / 34
  11. 11. OverviewFlight PlanA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 7 / 34
  12. 12. OverviewFlight PlanA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 7 / 34
  13. 13. OverviewFlight PlanA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 7 / 34
  14. 14. OverviewFlight PlanA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 7 / 34
  15. 15. OverviewFlight PlanA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 7 / 34
  16. 16. OverviewGround control stationA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 8 / 34
  17. 17. OverviewVideoA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 9 / 34
  18. 18. OverviewLet’s FlyA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 10 / 34
  19. 19. In Depth DescriptionHistoryA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 11 / 34
  20. 20. In Depth DescriptionHistoryA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 11 / 34
  21. 21. In Depth DescriptionHistoryA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 11 / 34
  22. 22. In Depth DescriptionHistoryA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 11 / 34
  23. 23. In Depth DescriptionHistoryA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 11 / 34
  24. 24. In Depth DescriptionGoalsA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 12 / 34
  25. 25. In Depth Description HardwareCOTSA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 13 / 34
  26. 26. In Depth Description HardwareRC Toy vs UAVA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 14 / 34
  27. 27. In Depth Description HardwareRC Toy vs UAVA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 14 / 34
  28. 28. In Depth Description HardwareRC Toy vs UAVA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 14 / 34
  29. 29. In Depth Description HardwareController boardA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 15 / 34
  30. 30. In Depth Description HardwareInfrared Attitude MeasurementA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 16 / 34
  31. 31. In Depth Description HardwareInfrared Attitude MeasurementA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 16 / 34
  32. 32. In Depth Description HardwareInfrared Attitude MeasurementA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 16 / 34
  33. 33. In Depth Description HardwareInfrared ThermopileMLX90247 ThermopileOutput voltage proportional to radiating temperature of seen bodySensitivity 40uV/C90°cone of vision¿10 in small quantitiesUsed for example in car air conditioning system, non contact thermometersA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 17 / 34
  34. 34. In Depth Description HardwareGPSA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 18 / 34
  35. 35. In Depth Description HardwareDatalinkA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 19 / 34
  36. 36. In Depth Description SoftwareNetworked ArchitectureA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 20 / 34
  37. 37. In Depth Description SoftwareOnboard SoftwareProcessor Architecture Independantavr, arm7 and i386Board Configuration Independantsingle and twin processors boardsVehicle Configuration Independantfixed wings and rotorcraftsSafeformal methods, real time analysis, extensive testingEfficientCode generation, compile time approachA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 21 / 34
  38. 38. In Depth Description SoftwareFlight Plan LanguageA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 22 / 34
  39. 39. In Depth Description SoftwareErgonomyA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 23 / 34
  40. 40. In Depth Description SoftwareErgonomyA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 23 / 34
  41. 41. In Depth Description SoftwareErgonomyA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 23 / 34
  42. 42. In Depth Description SoftwareErgonomyA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 23 / 34
  43. 43. In Depth Description SoftwareErgonomyA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 23 / 34
  44. 44. In Depth Description SoftwareErgonomyA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 23 / 34
  45. 45. In Depth Description SoftwareErgonomyA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 23 / 34
  46. 46. In Depth Description SoftwareErgonomyA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 23 / 34
  47. 47. In Depth Description SoftwareFlight Data AnalysisA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 24 / 34
  48. 48. In Depth Description SoftwareFlight Data AnalysisA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 24 / 34
  49. 49. In Depth Description ApplicationsMAV CompetitionsJMD03, Toulouse, France : 1st place with the TwinstarEMAV04, Braunschweig, Germany : 1st place with the MicrojetJMD04, Toulouse, France : 1st place with the MicrojetMAV05, Garmisch, Germany : 4 Paparazzi teams at the first 4 placesEMAV06, Braunschweig, Germany : all the teams were equiped withPaparazziMAV06, Sandestin, Florida : 2nd and 3rd placesMAV07, Toulouse, France : 1st place (tie), 3rd, 4th and 5th placesA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 25 / 34
  50. 50. In Depth Description ApplicationsTeachingU. of ArizonaHS BremenIstanbul TUU. of SheffieldU. de SherbrookeSupaeroA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 26 / 34
  51. 51. In Depth Description ApplicationsAeronautics/UAV researchA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 27 / 34
  52. 52. In Depth Description ApplicationsOther researchA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 28 / 34
  53. 53. In Depth Description ApplicationsOther researchA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 28 / 34
  54. 54. In Depth Description ApplicationsOperational applicationsA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 29 / 34
  55. 55. ConclusionsConclusionsTechnology is readyWide fields of applicationsReglementation is lagged ( RC / segregated airspace )Integration to civil trafficA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 30 / 34
  56. 56. ConclusionsAcknowledgementsPascal BrissetA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 31 / 34
  57. 57. ConclusionsAcknowledgementsPascal BrissetMurat BronzA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 31 / 34
  58. 58. ConclusionsAcknowledgementsPascal BrissetMurat BronzMichel GorrazA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 31 / 34
  59. 59. ConclusionsAcknowledgementsPascal BrissetMurat BronzMichel GorrazAnton KochevarA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 31 / 34
  60. 60. ConclusionsAcknowledgementsPascal BrissetMurat BronzMichel GorrazAnton KochevarChristian LindenbergA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 31 / 34
  61. 61. ConclusionsAcknowledgementsPascal BrissetMurat BronzMichel GorrazAnton KochevarChristian LindenbergArnold Schr¨oterA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 31 / 34
  62. 62. ConclusionsAcknowledgementsPascal BrissetMurat BronzMichel GorrazAnton KochevarChristian LindenbergArnold Schr¨oterJeremy TylerA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 31 / 34
  63. 63. ConclusionsAcknowledgementsPascal BrissetMurat BronzMichel GorrazAnton KochevarChristian LindenbergArnold Schr¨oterJeremy Tylerand all others...A. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 31 / 34
  64. 64. ConclusionsFurther Informationshttp://paparazzi.nongnu.orghttp://paparazzi.enac.frirc://irc.freenode.net/#paparazziA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 32 / 34
  65. 65. ConclusionsQuestionsA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 33 / 34
  66. 66. ConclusionsA. Drouin, M. M¨uller ( Ecole Nationale de l’Aviation Civile )Build your own UAV December 2007 34 / 34

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