Paparazzi UAV

Complete university-developed open-source UAV system for research and fixed-wing drones

License

GPL-2.0

Overview

Paparazzi UAV is a complete open-source drone system covering hardware, software, and ground control. Developed by ENAC and TU Delft universities since 2003, it's one of the oldest autonomous drone platforms. Paparazzi handles everything from flight control firmware to mission planning, with a focus on fixed-wing aircraft and research applications.

Paparazzi is one of the pioneering open-source UAV autopilot systems, with development starting in 2003 at ENAC (French Civil Aviation University) and TU Delft. Unlike ArduPilot and PX4 which evolved primarily from the multi-copter community, Paparazzi has deep roots in fixed-wing aircraft and has been extensively used in atmospheric research, environmental monitoring, and academic UAV competitions.

The system is truly end-to-end: it includes flight control firmware, a ground control station (PprzGCS), a flight plan editor, real-time telemetry, simulation tools, and hardware designs for autopilot boards. The flight plan system uses an intuitive XML-based language that allows researchers to define complex missions including formation flying, autonomous thermal soaring, and adaptive survey patterns.

Paparazzi supports multi-copters, fixed-wing, hybrid VTOL, and rotorcraft configurations. Its modular architecture allows researchers to easily swap control algorithms, navigation strategies, and sensor processing modules — making it a preferred platform for academic publications in UAV control theory.

Why it matters

Paparazzi represents the academic tradition of open-source drone development. Its 20+ year history means it has been validated in hundreds of research publications and real-world deployments. For researchers who need to modify low-level control algorithms or implement novel flight behaviors, Paparazzi's clean C codebase and academic community provide a more accessible platform than the larger, more complex ArduPilot or PX4 codebases.

Problem it solves

Academic UAV researchers need a platform where they can modify core flight algorithms without navigating massive codebases. Paparazzi provides a complete, well-documented system purpose-built for experimentation — from custom control laws to novel sensor fusion approaches — with a community that values research contributions.

Key takeaways

• 20+ years of continuous development since 2003 by ENAC and TU Delft
• End-to-end system: firmware, ground station, flight planner, simulator, and hardware designs
• Strong fixed-wing and research focus with XML-based mission planning language
• Used in hundreds of academic publications on UAV control and navigation
• Supports autonomous formation flying, thermal soaring, and adaptive survey patterns

Who it is for

• Academic UAV researchers
• Atmospheric and environmental scientists
• Fixed-wing drone developers
• University robotics courses
• UAV competition teams

Limitations

• Smaller community and ecosystem compared to ArduPilot and PX4
• Less commercial hardware support and vendor partnerships
• Documentation can be sparse for newer features
• GPL-2.0 license limits commercial use without sharing modifications
• Multi-copter support less mature than fixed-wing