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Paparazzi is a free and open-source hardware and software project for unmanned (air) vehicles. This is the main software repository.
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Latest commit 48945a5 May 23, 2016 @esden esden committed with flixr Make the target device leave DFU mode after upload. (#1683)
* Make the target device leave DFU mode after upload.

* Make DfuSe leave optional.

In some cases it is not desired to reboot into the payload after
firmware upload. For those cases you can set DFU_LEAVE=0 and it will
prevent the special DfuSe '''leave''' command to be issued. (this does
not apply to devices that pull the boot0 pin high forever. After the
'''leave''' the device will reboot and check the boot0 pin again. If the
boot0 pin is asserted high during reboot the device will go back to the
Failed to load latest commit information.
conf Make the target device leave DFU mode after upload. (#1683) May 24, 2016
data [multigps] GCS gps selector strip icons Feb 5, 2016
doc cleaning some unused french commented files (#952) Nov 9, 2015
docker [docker] exit with correct status Mar 31, 2016
src [sim] removed launchsitl and replaced it with symlink to pprzsim-launch Jan 24, 2013
sw Opencv image conversion (#1677) May 23, 2016
tests [math] added and updated utm helper funtions Apr 25, 2016
.gitignore [git] add ivy2serial to gitignore Mar 15, 2016
.gitmodules Added opencv example (#1663) May 18, 2016
.travis.yml fix travis Oct 28, 2015
BUGS added link to github issues to BUGS Mar 2, 2012 update changelog Apr 1, 2016 fix typo in Apr 23, 2015
COPYING make COPYING the symlink Mar 10, 2015
Doxyfile [dox] add simulator sources to doxygen Feb 20, 2016
LICENSE make COPYING the symlink Mar 10, 2015
Makefile also build find_free_msg_id in sw/tools Mar 16, 2016 [generators][telemetry] remove module attribute (#1678) May 22, 2016
Makefile.lpctools [build system] more makefile cleanup for lpc stuff Feb 8, 2013 Spelling correction Dec 17, 2014
Vagrantfile add files to start a new VM via Vagrant Nov 4, 2013
create_module create_module: enforce lowercase file and dir and function names Mar 5, 2015 [build] fix test_all_confs Sep 21, 2015 prevent globbing in Mar 5, 2015 [fix] typo in githelper script May 9, 2014 executable Nov 22, 2013
paparazzi.sublime-project add sublime project file Sep 10, 2014
paparazzi_code_profile_eclipse.xml update eclipse code style Sep 10, 2014
paparazzi_version mark as devel until next release Dec 21, 2015 *** empty log message *** May 30, 2006 add set active button again, symlink Dec 5, 2014 use statusbar to show messages instead of annoying prints t… Nov 16, 2015


Paparazzi UAS

Build Status Gitter chat

Paparazzi is an attempt to develop a free software Unmanned (Air) Vehicle System. As of today the system is being used successfuly by a number of hobbyists, universities and companies all over the world, on vehicle of various size ( 100g to 25Kg ) and of various nature ( fixed wing, rotorcrafts, boats and surface vehicles).

Up to date information is available in the wiki

and from the mailing list and the IRC channel (freenode, #paparazzi).

Required Software

Installation is described in the wiki (

For Ubuntu users, required packages are available in the paparazzi-uav PPA, Debian users can use the OpenSUSE Build Service repository

Debian/Ubuntu packages:

  • paparazzi-dev is the meta-package that depends on everything needed to compile and run the ground segment and the simulator.
  • paparazzi-jsbsim is needed for using JSBSim as flight dynamic model for the simulator.

Recommended cross compiling toolchain:

Directories quick and dirty description:

conf: the configuration directory (airframe, radio, ... descriptions).

data: where to put read-only data (e.g. maps, terrain elevation files, icons)

doc: documentation (diagrams, manual source files, ...)

sw: software (onboard, ground station, simulation, ...)

var: products of compilation, cache for the map tiles, ...

Compilation and demo simulation

  1. type "make" in the top directory to compile all the libraries and tools.

  2. "./paparazzi" to run the Paparazzi Center

  3. Select the "Microjet" aircraft in the upper-left A/C combo box. Select "sim" from upper-middle "target" combo box. Click "Build". When the compilation is finished, select "Simulation" from the upper-right session combo box and click "Execute".

  4. In the GCS, wait about 10s for the aircraft to be in the "Holding point" navigation block. Switch to the "Takeoff" block (lower-left blue airway button in the strip). Takeoff with the green launch button.

Uploading of the embedded software

  1. Power the flight controller board while it is connected to the PC with the USB cable.

  2. From the Paparazzi center, select the "ap" target, and click "Upload".


  1. From the Paparazzi Center, select the flight session and ... do the same than in simulation !
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