All posts by Gautier Hattenberger

Paparazzi wins at IMAV2018

Enac UAV team and TUDelft MAVLAB team took part to the IMAV2018 conference and competition in Australia with great success!

For the first time, the two academic lead developers of the Paparazzi UAV system join efforts to participate to the Outdoor competition and won this event far ahead.

Several tasks have been completed, including a mapping (performed using OpenDroneMap) of the flight area with automatic detection of hazards hidden in the field (with a light fixed wing aircraft) and an autonomous obstacles avoidance navigation near trees (with Bebop2 + SlamDunk from Parrot).

During the Indoor event, Enac and TUDelft were competing. And if Enac finally won the competition regarding to the score with ultra light modified CX10 quadcopters, TUDelft made an outstanding demonstration of the Delfly Nimble. This small flapping wing UAV has an amazing agility and autonomous vision-based navigation, recognized with the Indoor Innovation prize.

All these success have been possible thanks to the hard work of the Paparazzi community over the past 15 years of course, but also thanks to many other Open-Source projects including:

For the hardware parts:

The conference papers can be found here: http://www.imavs.org/imav2018-proceedings/, including several papers presented by Enac and TUDelft teams.

Thanks to everyone and see you next year in Spain !

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UAV Network Intrusion Detection with Wavelet-based Signature Analysis

This is a first step of a hybrid IDS method based on the analysis of spectral traffic and a robust controller / observer for the estimation of anomalies in UAV networks. This module is currently designed to observe the traffic between the drones and the Paparazzi GCS. It provides a statistic signature of the traffic which can later be used to determine the nature of the traffic. The module is tested in face of a DoS attack and the results are very promising!

Check out our paper for more details: https://hal-enac.archives-ouvertes.fr/hal-01652296

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Opening ENAC’s flying arena

Since the beginning of the year, ENAC (French Civil Aviation University) is equipped with a new facility dedicated to UAVs research and education.

The building includes a flying arena with a size around 10x10x10 meters, several workshops for mechanics, electronic, composite, 3D printing and storage. It also includes a teaching room for automatic control and the student’s robotics club.

The official opening was the 17th of May in the presence of the French minister of transport. Several demonstrations have been performed, all of them showing the formidable capabilities of Paparazzi: distributed formation flight, hybrid vehicles, on-board image processing, efficient adaptive control and autonomous navigation.

 

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New Paparazzi autopilot Chimera released

The ENAC UAV lab is proud to release its latest autopilot board.  Named Chimera, it is based on the latest STM32F7 micro-controller and offers a large connectivity.

The design have been made with the ease of use and integration for end-users, especially researchers. With the usual features like IMU and barometer, the Chimera also carries a differential pressure sensor, a SD card slot, a XBee modem slot and a 5V power supply dedicated to external companion processor.

Please check the general pinout diagram below or the Wiki page for more details.

The Chimera have been successfully used on the hybrid airframe currently developed by Enac with the help of TUDelft for the control.

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Flying Parrot’s Disco aircraft with Paparazzi

The Disco from Parrot is a fixed-wing aircraft designed for FPV with all the feature already available on their Bebop2, plus some extra things, like airspeed sensor, SBUS input and PWM outputs.

The autopilot itself is all integrated in a box called C.H.U.C.K. and it allows nice and easy flights with the SkyController2 and the Cockpitglasses, connected via Wifi.

Just like the Bebop and ARDrones, it is now possible to fly this drone using Paparazzi. Just connect to the plane, upload your code and you’re ready to go! Here is the video of the maiden flight:

More information are available on the wiki: http://wiki.paparazziuav.org/wiki/Disco

Special thanks to ArduPilot and Andrew Tridgell who implemented the driver for PWM output on this plane and his tips for debugging the Paparazzi version.

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IMAV2016

The International Micro-Air Vehicle Conference and Competition was held last week in Beijing, China, organized by the Beijing Institute of Technology and the National University of Singapore.

As usual, the level of the teams involved in the competition is higher year after year and we had a great show. The team from the MAVLAB of TUDelft was participating to both indoor and outdoor session. During the outdoor, they unfortunately couldn’t show their best due to many communication issues, preventing them to fully use their RTK Bebop2 (and also some regressions in Paparazzi code, hum hum… 🙁 ).

The next day, the indoor team did its best to perform well. And despite the difficult tasks to pick up and drop objects, they tried hard until the end. It was worth the effort as they reached the 3rd place of the competition, a few points ahead the Spanish team of Madrid (CVG-UPM)! We could almost call it a draw as both team really did their best with great spirit.

imav2016_delft_team

But, this was not their only great achievement. The paper Control of a hybrid helicopter with wings by Christophe De Wagter and Ewoud Smeur received the Best Paper Award of the conference for their work on the control issues raised by the novel design of the Delftacopter and the solution they found to solve them. Congratulation to them and all the team involved in the Delftacopter!

imav2016_paper_award

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Drones vs. Retro-gaming: fly with a Game Boy Classic

Some time ago, I found my old Game Boy at my parents’ house. So the first thing that came to my mind was: can I fly a drone with this ? (and also where is my Mario Bros cartridge).

So I spend some time searching the web to see if I could find some idea to solve my problem. And if it seems that piloting unmanned aircraft with a Game Boy is not so common, you can find everything you need to program it!

But you can’t expect to go directly to an old custom serial com port to a wifi-based drone without some intermediate steps:

gb-ardrone2-wiringFinally, the Game Boy is just sending the bitmask corresponding to the buttons being pressed (with an Arduino and a FTDI to convert Game Link signals to USB), and a small program on the ground station converts this into actual commands for the drone (an ARDrone2 from Parrot with an extra GPS in my case).

The result is here:

See https://github.com/enacuavlab/PPRZonGB for more information and source code of this demo.

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Flights at the ISARRA2016 conference

Last May, the ISARRA conference (International Society for Atmospheric Research using Remotely Piloted Aircraft) was held in Toulouse, France (http://www.meteo.fr/cic/meetings/2016/isarra/).

The week before the conference, a few teams of researchers gathered to share experiences and fly their drones at the Atmospheric Research Center of Lannemezan near the Pyrenees. Among them was some of the oldest users of Paparazzi: Martin Muller (http://blog.pfump.org), the team of Joachim Reuder from the Geophysical Institute of Bergen, the UAV Lab of ENAC and the French Meteorological Research Center who was hosting the event.

Many flights have been done, including for the ENAC lab, the first flight using ChibiOS v3 implementation and some autonomous catapult takeoff.

 

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Multi-UAV flights for simultaneous meteorological measurements

ENAC UAV Lab team and Meteo-France (CNRS-GAME and ENM) teams have spent several days at the Atmospheric Research Center of Lannemezan (in the south of France) in order to perform experiments for simultaneous meteorological measurements through multi-UAV flight.

This was part of a research project called VOLTIGE aimed at studying the formation of cloud and fog events. One of the planes is measuring the turbulence near the ground, a second plane is flying above the cloud or the fog with a radiation sensor and the last one is making a vertical profile of temperature, pressure and humidity up to 1500 meters AGL.GCS screenshot multi-uav

All the planes were controlled by Paparazzi UAV Apogee boards, with on-board logging on SD cards and navigation patterns triggered by sensors readings.

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