You can also have at the multi-uav navigation modules already
They are very basic collision avoidance based on a simplified TCAS
logic and a simple formation flight controller.
You also add a "follow"
(http://wiki.paparazziuav.org/wiki/Flight_Plans#Follow) and a
"potential" modules not really documented (3D avoidance based on
The major issue is that for now, all communications are relayed by
the ground. It is not only laziness, we are using two messages
class, one for downlink, one for uplink, so air-to-air
communications is not completely obvious there...
But at some point, we also have to go in this direction.
Le 16/02/2015 18:31, Hector Garcia de
Marina a écrit :
Thanks a lot for your exhaustive response!
Those features are quite hidden in the wiki I would
I already have some algorithms in 3D formation
control that I would like to implement in PPZ.
I will take a more in depth look and ask for
support/suggestion here about how to proceed.
On Feb 16, 2015 5:28 PM, "David Conger"
apologies, forgot to include the video URL (also you can
search for "Paparazzi the free autopilot")
On 2/16/15, David Conger <address@hidden>
> From at least 2005 (when I first found Paparazzi)
> with a single GCS ground station has been working very
> Here is a video from 2007 showing a drone in Germany and
> France being controlled from Berlin Germany over a mobile
> 2007!!!! ... can you imagine that's quite a long time ago
> years. No other open source project at the time even flew
> much less in a configuration anything like this.
> If there is a single drone to single GCS limit is it not
> you are using. Possible one of the others? QGround
> Even more interesting info about multi-drone flights:
> Paparazzi airframe configuration tool assigns an aircraft
ID which is
> used by GCS to plot each aircraft with a different
colored trace. As
> you fly each drone will have it's own color assigned.
Full control of
> each is maintained via the same buttons and commands and
> colored trace of the flight path is seen.
> Even more interesting is the security built in via a
> and GCS) hash code. A hash is done at compile time that
> the GCS with the correct hash code will send data to the
> is accepted. If someone else runs Paparazzi and tries to
> drones the aircraft code will reject the messages as
> having the proper hash code. At the time even some (maybe
all) of the
> military drones did not have this security.
> Note: For the flight you see in the video they had to
share the hash
> code to the operators in Berlin.
> Imagine all the new features you find inside Paparazzi
today (if you
> search) if this was circa 2005 I'm talking about now. ;)
> It is expected few people outside Paparazzi (and many
> are not aware of so many powerful features inside.
Everyone in a truly
> open project like this is more interested in coding and
> marketing and selling. It's a good sign I think of a
> project that you do not see so much marketing and hype to
get you to
> buy something.
> What I have seen is the Paparazzi foundation is very
cutting edge even
> today. Cutting edge things like Ivy, OCaml, run the risk
of lack of
> adoption. Like Beta vs VHS for video tape wars a superior
way to do it
> can fail to gain wide adoption. I encourage everyone to
> learn OCaml vs trying to pull these powerful things out
> Paparazzi. They are not trivial to substitute or replace
and are IMHO
> key components.
> Do not be misled by Apache IVY. Here is the Ivy inside
> GCS is written in this (Caml):
> There are so many cool, useful, features in GCS. Sure it
does not look
> like an F35 cockpit but look at the troubles complexity
> about F35 problems). From day 1 I have followed other
> stations and feel they are trying to be too much like an
> cockpit. Drone control should not be like airplane
control. You are
> interacting with it not flying it. GCS is what you need
how you need
> it and flexible an extensible. Please review this:
> I hope this reply helps you to realize you have a lot of
> features to learn about with Paparazzi. Ones that exist
now and are
> just waiting for you to learn and use now.
> I hope for any newbies or those on the fence watching
> you have learned Paparazzi is the best project for real
> yesterday, today and tomorrow. Maybe someday the others
will catch up
> but I doubt it. Paparazzi is constantly evolving and
> features. Now if only Parrot would adopt it and mention
> instead of QGround Control their product would be
> for the new FAA rules. Imagine BeBop and ARDrones doing
> surveys, following miles of power lines and looking at
the top of cell
> towers. Parrot has the capacity to delivery huge volumes
> should a major telco or power company adopt these they
could get them
> in their hands quickly. :)
> David B Conger
> On 2/16/15, Hector Garcia de Marina <address@hidden>
>> Hi guys,
>> I guess this is not new here. I was wondering if
there was/is any effort
>> for integrating to the system more than one vehicle
at the same time.
>> With integration to the system I mean monitoring and
>> multiple vehicles in the GCS and communication among
>> passing to the GCS.
>> The objective is to perform some formation control. I
guess this would be
>> interesting for certain scenarios where flying in
formation is a
>> requirement or an improvement/advantage. The
formation is not only
>> restricted to a platoon with a particular shape, but
surveillance of an
>> area following a trajectory where the distance
between vehicles has to be
>> constant or another applications.
>> This year I will have time for making efforts in this
>> I never took a look at the GCS, I do not know how
difficult will be to
>> implement a "multivehicle" feature (or if there
exists one already!).
>> In addition, what is the status of PPZ with ChibiOS?
A new stable version
>> of ChibiOS is going to be released (3.0) with a lot
of important changes
>> but I guess the PPZ branch is using 2.6.x right?
>> Webpage: http://mathtronics.wordpress.com/
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