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Re: [Paparazzi-devel] Paparazzi for a Quadrotor

From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] Paparazzi for a Quadrotor
Date: Wed, 27 May 2009 15:53:54 +0200
User-agent: Thunderbird (X11/20090409)


We have been able to perform some basic navigation (waypoint and segment) using the flight plans. All the routines available on fixed wing are not implemented yet. The navigation control loop is very basic (only based on gps) and you can't really control the speed. We prefer to wait and improve the system before any "official" release. And as Felix said, there is almost no documentation, so it is not very usable... Moreover, there is no guarentee that the software will work on a TWOG in its current state (due to some hard-coded stuff...)


Felix Ruess a écrit :
Hi Jean-Claude,

yes, when I said manually I meant stability augmented of course.
Without it its impossible to manually fly the quad. So stabillization
works (but better attitude estimation is under development).
About autonomous mode: AFIK you can't use flight plans yet, but
Gautier was/is working on that and I'm not sure how far this is....
I'll be on the road for 6 weeks now. In July I'll be working on it
again and also start to write something up in the wiki.
My guess is that we can announce the quadrotor "support" end of summer.

The IMU is connected to the main board via SPI (including the mag sensor).

Cheers, Felix

On Mon, May 25, 2009 at 4:40 PM, Jean-Claude <address@hidden> wrote:
Hi Felix,

Again thanks for your answers.
I had replied to you by an email and perhaps that's was not a good idea for
others members to be in sink.
So let me apologize to repost here

For the quadrotor SW part :
Do you know roughly when the quadrotor support in Paparazzi should be
announced ?
Also, when you say i could fly actually a quadrotor manually, does i mean
that "stabilization" is achieved

and not the "autonomous" flight ?
Does this correspond the PPZ Airborne Software can Control with augmented
stability (named AUTO1)?
Can you please confirm that basic waypoint naviguation can be done ?

For the quadrotor HW part :
I was also able to discuss on the IRC with Anton who told me that the new
hardware was being validated by a a few Paparazzi members(as he will).

They are probably going to be manufactured by a vendor company.

I was interested in getting only the Booz2 different PCB's and assemble them
myself but
no more Booz2 PCB's should be available as only a small bunch of them was

So, for my quadrotor project, it means that the only solution remaining
would be to use a Tiny V1.3
or Tiny V2 (Or Twog V1 i suppose)
I will perhaps try to buy a "used" Tiny ot Twog from other PPZ users, for
cost reasons...
(and moove to the new Booz2 hardware when available).
I  will have also to build an IMU for the quadrotor to fly:
How should i connect this IMU to the Tiny Board?

Best regards,


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