Tawaki is an open-hardware, open-source flight controller developed within the Paparazzi UAV project — an open-source autopilot and ground-station framework for multicopters, fixed-wing, helicopters and hybrid aircraft, founded in 2003 and mainly developed by ENAC (Toulouse, France).

Current version: Tawaki v2.01

Key Features

• STM32H7 MCU (ARM Cortex-M7, 480 MHz, FPU/DSP, 2MB Flash, 1MB RAM)
• 2x RC receiver inputs (S.BUS, PPM, Spektrum Satellite)
• 8x Servo/ESC outputs (PWM/OneShot/DShot/DShot bidir)
• MicroSD card with emergency power-loss protection
• On-board IMU (ICM-42688-P), magnetometer (LIS3MDL), barometer (BMP390)
• 3x UART, I2C, SPI, CAN/CAN-FD, USB-C (DFU / mass storage / FS mode)
• 8x auxiliary ADC/timer I/O
• Power: 2S–6S LiPo (6–26V), 5V/5A + 3.3V/3A low-noise rails
• 53 × 25 mm, 11 g

Full specifications: Tawaki v2.01 wiki page

Ordering notes

• Boards ship assembled and unprogrammed.
• MCU: the BOM specifies STM32H753VIH6. The pin-compatible STM32H743VIH6 (no crypto accelerator) is accepted if the H753 is out of stock.
• Connectors: mating plugs are not included. All connectors are Molex PicoBlade 1.25 mm: use 51021-xx00 housings with 50079-8000 crimp terminals (this require a crimping tool), or ready-made Molex 15134 cables. See the Bill of materials section for the details.

Used within the telekyb3 framework

Tawaki is also adopted by telekyb3, a free and open-source software/hardware framework for multi-UAV development, originally developed at LAAS-CNRS (Toulouse) by Anthony Mallet, and now also used at IRISA-INRIA (Rennes), LS2N (Nantes), the University of Twente, and

University College London.

Within this framework, the board runs a custom firmware, tk3-paparazzi.

Authors & Contacts

• Paparazzi UAV project: contact page
• telekyb3 support: Gianluca Corsini, research engineer at IRISA-INRIA in Rennes (gianluca.corsini@irisa.fr) or Anthony Mallet, research engineer at LAAS-CNRS in Toulouse (anthony.mallet@laas.fr).

License

• Paparazzi hardware/software: provided with no guarantee — see the Paparazzi UAV wiki. Check your country's UAS regulations before flying.
• tk3-paparazzi firmware: 2-Clause BSD License.