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 363dec8 Feb 19, 2017 @gautierhattenberger gautierhattenberger committed with flixr Autopilot refactor (#2009)
* [autopilot] refactor autopilot API for both firmwares

With this, fixedwing and rotorcraft are mostly using the same interface
for the autopilot. Some specific code and messages handling are still
firmware dependent.
A large part of the autopilot logic of the fixedwing is moved from
main_ap to autopilot_static.
More getter/setter functions are provided.

* [autopilot] update the rest of the system and the conf

for using the refactored autopilot API

* [autopilot] fix some errors from CI servers

* [actuators] use dummy actuators module to prevent autoloading

* Rename Bart_heliDD_INDI.xml to tudelft_bs_helidd_indi.xml

* Rename Bart_heliDD_pid.xml to tudelft_bs_helidd_pid.xml

* Delete tudelft_course2016_bebop_colorfilter.xml

* Delete tudelft_course2016_bebop_avoider.xml

* [actuators] don't autoload actuators when set to 'none'

* [gcs] autodetect firmware for strip mode button
Failed to load latest commit information.
conf Autopilot refactor (#2009) Feb 19, 2017
data [multigps] GCS gps selector strip icons Feb 5, 2016
doc cleaning some unused french commented files (#952) Nov 9, 2015
docker [docker] pass symlinked devices if docker version >= 1.12 Sep 17, 2016
src New paparazzicenter in Python (#1811) Jul 19, 2016
sw Autopilot refactor (#2009) Feb 19, 2017
tests [math] added and updated utm helper funtions Apr 25, 2016
.gitignore New paparazzicenter in Python (#1811) Jul 19, 2016
.gitmodules [chibios] Add support for a full ChibiOS arch (#1699) Jun 7, 2016
.packages [pkg_man] mini package manager (#1904) Oct 28, 2016
.travis.yml Make travis compile again Nov 12, 2016
BUGS added link to github issues to BUGS Mar 2, 2012 update changelog Dec 30, 2016 fix typo in Apr 23, 2015
COPYING make COPYING the symlink Mar 10, 2015
Doxyfile update Doxyfile Sep 17, 2016
LICENSE make COPYING the symlink Mar 10, 2015
Makefile fix make cleanspaces Jan 6, 2017 [settings] group system settings under the same tab Dec 19, 2016
Makefile.lpctools [build system] more makefile cleanup for lpc stuff Feb 8, 2013 Added coverity scan badge Oct 15, 2016
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 New paparazzicenter in Python (#1811) Jul 19, 2016
paparazzi.sublime-project add sublime project file Sep 10, 2014
paparazzi_code_profile_eclipse.xml update eclipse code style Sep 10, 2014 [pkg_man] mini package manager (#1904) Oct 28, 2016
paparazzi_version version v5.11_devel: mark as dev for next release Sep 27, 2016 *** empty log message *** May 30, 2006 add set active button again, symlink Dec 5, 2014 [pprzcenter] added a checkbox to launch the new python gui (#1912) Oct 28, 2016


Paparazzi UAS

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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 !