Using the Paparazzi UAV System for Scientific Research

Using the Paparazzi UAV System for Scientific Research Gautier Hattenberger, Murat Bronz, and Michel Gorraz ENAC, MAIAA, University of Toulouse, France IMAV2014 Delft August 2014 Hattenberger, Bronz, Gorraz (ENAC) The Paparazzi System IMAV2014, Delft 1 / 15

Outline 1 The basics 2 Software architecture 3 Hardware solutions 4 Example application 5 Conclusion Hattenberger, Bronz, Gorraz (ENAC) The Paparazzi System IMAV2014, Delft 2 / 15

What is Paparazzi The Paparazzi System aims to provide a software and hardware solution for low-cost mini and micro unmanned air vehicles Started as a personal project in 2003 by Pascal Brisset and Antoine Drouin Supported by Enac since 2005 Open-Source since the beginning Now supported by the community academics (Enac, TUDelft,... ) individuals (from specialists in robotics to simple hobbyists) companies (PPZUAV, Transition Robotics, 1 Bit Squared,... ) a successful model followed by many other projects http://paparazziuav.org Hattenberger, Bronz, Gorraz (ENAC) The Paparazzi System IMAV2014, Delft 3 / 15

The basics of Paparazzi Available platforms: Debian/Ubuntu (packaged) other GNU/Linux distributions (manual installation) Mac OS X Hattenberger, Bronz, Gorraz (ENAC) The Paparazzi System IMAV2014, Delft 4 / 15

The basics of Paparazzi Available platforms: Debian/Ubuntu (packaged) other GNU/Linux distributions (manual installation) Mac OS X Ground software written in: OCaml (mostly) C, Python,... Airborne code written in C Hattenberger, Bronz, Gorraz (ENAC) The Paparazzi System IMAV2014, Delft 4 / 15

Global view of the system Aircraft Sends telemetry messages Receives datalink messages datalink Aircraft Sends telemetry messages Receives datalink messages datalink telemetry Wireless link Airborne network link Connects a hardware wireless device to the network gcs Displays graphic data Controls the datalink telemetry ground ground ground Ground network messages (debug) Display network messages telemetry ground server Logs raw messages Dispatches synthetic messages Multi-UAV Modular ground segments agents Using software bus Ivy (publish/subscribe) Hattenberger, Bronz, Gorraz (ENAC) The Paparazzi System IMAV2014, Delft 5 / 15

The visible part of Paparazzi Airframes fixed-wing rotorcrafts transitioning based on IMU sensors, and/or IR thermopiles Flight plan XML based, complex patterns and sequences, static dynamic, based on datalink, simple pattern Ground Control Station (aka. GCS) Hattenberger, Bronz, Gorraz (ENAC) The Paparazzi System IMAV2014, Delft 6 / 15

PPRZonDroid Allows control at the flight plan level from an Android device Works as an extension of the GCS Control of settings is limited, but sufficient for typical operations Hattenberger, Bronz, Gorraz (ENAC) The Paparazzi System IMAV2014, Delft 7 / 15

Airborne software architecture Module xml Modules GPS IMU Sonar Baro Airspeed State Interface Flight Plan xml INS AHRS publish / subscribe AP Scheduler Nav Guidance Stabilization Airframe xml memory / serial AP process Datalink Telemetry Periodic Telemetry and Settings xml Configurable from XML files System split into functional blocks Possibility to split failsafe manual commands on two MCU for fixed-wing aircrafts Electrical / Battery monitoring Servos & Actuators FBW process (on dual-mcu systems) Safety Remote Control Radio xml Hattenberger, Bronz, Gorraz (ENAC) The Paparazzi System IMAV2014, Delft 8 / 15

A versatile software test bench In the latest version, there is at least: Hattenberger, Bronz, Gorraz (ENAC) The Paparazzi System IMAV2014, Delft 9 / 15

A versatile software test bench In the latest version, there is at least: 8 AHRS/INS filters (including 1 full INS) 10 control loops (stabilization and guidance) Hattenberger, Bronz, Gorraz (ENAC) The Paparazzi System IMAV2014, Delft 9 / 15

A versatile software test bench In the latest version, there is at least: 8 AHRS/INS filters (including 1 full INS) 10 control loops (stabilization and guidance) 15 peripherals drivers (gyrometer, accelerometer, magnetometer, barometer, GPS, INS,... ) 23 hardware boards 130 modules, including: 20 for meteo applications 16 advanced navigation routines formation flight and collision avoidance gimbal and digital camera control... Hattenberger, Bronz, Gorraz (ENAC) The Paparazzi System IMAV2014, Delft 9 / 15

A versatile software test bench In the latest version, there is at least: 8 AHRS/INS filters (including 1 full INS) 10 control loops (stabilization and guidance) 15 peripherals drivers (gyrometer, accelerometer, magnetometer, barometer, GPS, INS,... ) 23 hardware boards 130 modules, including: 20 for meteo applications 16 advanced navigation routines formation flight and collision avoidance gimbal and digital camera control... realistic flight dynamic model simulation tools computer vision framework for the AR.Drone2 Hattenberger, Bronz, Gorraz (ENAC) The Paparazzi System IMAV2014, Delft 9 / 15

A versatile software test bench In the latest version, there is at least: 8 AHRS/INS filters (including 1 full INS) 10 control loops (stabilization and guidance) 15 peripherals drivers (gyrometer, accelerometer, magnetometer, barometer, GPS, INS,... ) 23 hardware boards 130 modules, including: 20 for meteo applications 16 advanced navigation routines formation flight and collision avoidance gimbal and digital camera control... realistic flight dynamic model simulation tools computer vision framework for the AR.Drone2 probably much more that are not in the mainstream Hattenberger, Bronz, Gorraz (ENAC) The Paparazzi System IMAV2014, Delft 9 / 15

Some ongoing work Real-Time Operating System get the possibility to change the static scheduler by a dynamic one handle priorities for safer operation already started based on ChibiOS Better controller API improve handling of control inputs (flight plan, RC, extra embedded CPU,... ) Autopilot mode definition let the user define the autopilot modes and how the control loops are connected Hattenberger, Bronz, Gorraz (ENAC) The Paparazzi System IMAV2014, Delft 10 / 15

Some ongoing work Real-Time Operating System get the possibility to change the static scheduler by a dynamic one handle priorities for safer operation already started based on ChibiOS Better controller API improve handling of control inputs (flight plan, RC, extra embedded CPU,... ) Autopilot mode definition let the user define the autopilot modes and how the control loops are connected Communication protocol make a clean definition of the standard set of messages extend the number of possible messages integrate other protocols (ROS, Mavlink,... ) Hattenberger, Bronz, Gorraz (ENAC) The Paparazzi System IMAV2014, Delft 10 / 15

Hardware solutions Apogee form factor for small aircraft STM32F4, IMU, barometer integrated SD log (using ChibiOS) automatic log file closing on power down Lisa series (L, M, M2, MX, S) KroozSD dedicated to bigger rotorcrafts Hattenberger, Bronz, Gorraz (ENAC) The Paparazzi System IMAV2014, Delft 11 / 15

Versatile flying platforms Fixed-wing Rotorcrafts Transitioning vehicles Hattenberger, Bronz, Gorraz (ENAC) The Paparazzi System IMAV2014, Delft 12 / 15

Scientific application: meteo studies SUMO Small Unmanned Meteorological Observer operated by the Geophysical Institute of Bergen University since 2007 validate the system in very harsh conditions VOLTIGE ENAC / Meteo-France project analyze fog and cloud events multi UAV already several field campaigns Hattenberger, Bronz, Gorraz (ENAC) The Paparazzi System IMAV2014, Delft 13 / 15

Some developments in VOLTIGE project Handling of scientific payload easy integration with modules bidirectional serial communication with AP double on-board logging from AP and payload side real-time monitoring of data with telemetry power supply controlled by AP New airframe design fuselage adapted to the sensors with easier access pitching moment dynamic optimized for meteorological measurements increased endurance and climbing capabilities compared to standard hobby planes Hattenberger, Bronz, Gorraz (ENAC) The Paparazzi System IMAV2014, Delft 14 / 15

Conclusion New and old things about Paparazzi step-by-step evolution of the base code backward compatibility (as much as possible) recent hardware platforms (e.g. STM32F4, Android, AR.Drone2) Many possible field applications academic research commercial activities just for fun A community work Once again, thank you to all core and occasional developers, board manufacturers, flight testers, wiki pages editors, bug reporters and MAV enthusiasts! Hattenberger, Bronz, Gorraz (ENAC) The Paparazzi System IMAV2014, Delft 15 / 15