Paparazzi v5.12_stable ====================== Stable version release Paparazzi v5.11_devel ===================== Update changelog General ------- - updated to pprzlink v.2.0. [#2083] (https://github.com/paparazzi/paparazzi/pull/2083) - HITL as a standalone target [#2062] (https://github.com/paparazzi/paparazzi/pull/2062) - Added Gazebo as simulation backend for NPS [#2069] (https://github.com/paparazzi/paparazzi/pull/2069) - conversion of subsystems to modules [#1978] (https://github.com/paparazzi/paparazzi/pull/1978) [#1985] (https://github.com/paparazzi/paparazzi/pull/1985) [#1989] (https://github.com/paparazzi/paparazzi/pull/1989) - live MAG calibration tool and onboard calibration algorithm [#2043] (https://github.com/paparazzi/paparazzi/pull/2043) [#1977] (https://github.com/paparazzi/paparazzi/pull/1977) - possibility to use generated autopilot for rotorcraft [#2055] (https://github.com/paparazzi/paparazzi/pull/2055) [#1975] (http://github.com/paparazzi/paparazzi/pull/1975) - also compile C++ files [#1561] (http://github.com/paparazzi/paparazzi/pull/1561) - mag live calibration tool [#1977] (http://github.com/paparazzi/paparazzi/pull/1977) - flight plans [#2106] (http://github.com/paparazzi/paparazzi/pull/2106) [#2101] (http://github.com/paparazzi/paparazzi/pull/2101) [#1970] (http://github.com/paparazzi/paparazzi/pull/1970) [#1967] (http://github.com/paparazzi/paparazzi/pull/1967) [#1943] (http://github.com/paparazzi/paparazzi/pull/1943) [#1942] (http://github.com/paparazzi/paparazzi/pull/1942) [#1900] (http://github.com/paparazzi/paparazzi/pull/1900) - mission index [#1918] (http://github.com/paparazzi/paparazzi/pull/1918) - several conf cleaning - NPS update [#1831] (http://github.com/paparazzi/paparazzi/pull/1931) - mini package manager [#1904] (http://github.com/paparazzi/paparazzi/pull/1904) Airborne -------- - cleaning TUDelft stereocam modules [#2107] (https://github.com/paparazzi/paparazzi/pull/2107) - support of lisa mxs board [#2104] (https://github.com/paparazzi/paparazzi/pull/2104) - initial support for Parrot Swing [#2085] (https://github.com/paparazzi/paparazzi/pull/2085) - initial support for Decawave DW1000 modules [#2084] (https://github.com/paparazzi/paparazzi/pull/2084) - polygon survey via Guidance Vector Field [#2052] (https://github.com/paparazzi/paparazzi/pull/2052) - added support of RTK with UBlox8 modules [#2034] (https://github.com/paparazzi/paparazzi/pull/2034) - added support of HOTT radio control [#2030] (https://github.com/paparazzi/paparazzi/pull/2030) - added support for Chimera autopilot [#2018] (https://github.com/paparazzi/paparazzi/pull/2018) - refactoring autopilot code [#2009] (https://github.com/paparazzi/paparazzi/pull/2009) - several improvments to Hybrid control and INDI [#2063] (https://github.com/paparazzi/paparazzi/pull/2063) [#2011] (https://github.com/paparazzi/paparazzi/pull/2011) [#2005] (https://github.com/paparazzi/paparazzi/pull/2005) [#2004] (https://github.com/paparazzi/paparazzi/pull/2004) [#2003] (https://github.com/paparazzi/paparazzi/pull/2003) [#2002] (https://github.com/paparazzi/paparazzi/pull/2002) - added support for ChibiOS on rotorcraft [#1999] (https://github.com/paparazzi/paparazzi/pull/1999) - added support for Parrod Disco [#2066] (https://github.com/paparazzi/paparazzi/pull/2066) [#1992] (https://github.com/paparazzi/paparazzi/pull/1992) - convert telemetry subsystems to modules [#1835] (http://github.com/paparazzi/paparazzi/pull/1835) - change behavior of command laws [#1955] (http://github.com/paparazzi/paparazzi/pull/1955) - RC switch [#1954] (http://github.com/paparazzi/paparazzi/pull/1954) [#1953] (http://github.com/paparazzi/paparazzi/pull/1953) [#1951] (http://github.com/paparazzi/paparazzi/pull/1951) - PX4 support and fixes [#1950] (http://github.com/paparazzi/paparazzi/pull/1950) [#1962] (http://github.com/paparazzi/paparazzi/pull/1962) - update libopencm3 [#1965] (http://github.com/paparazzi/paparazzi/pull/1965) - sbus actuators support [#1952] (http://github.com/paparazzi/paparazzi/pull/1952) - guidance vector field [#1919] (http://github.com/paparazzi/paparazzi/pull/1919) - ahrs support and fixes [#1949] (http://github.com/paparazzi/paparazzi/pull/1949) [#1946] (http://github.com/paparazzi/paparazzi/pull/1946) - lidar lite and teraranger drivers [#1926] (http://github.com/paparazzi/paparazzi/pull/1926) [#1888] (http://github.com/paparazzi/paparazzi/pull/1888) - variable size median filter [#1909] (http://github.com/paparazzi/paparazzi/pull/1909) Paparazzi v5.10_stable ====================== Stable version release - convert ahrs to modules [#1859] (http://github.com/paparazzi/paparazzi/pull/1859) - svinfo vizu [#1860] (http://github.com/paparazzi/paparazzi/pull/1860) - fix i2c, uart and systime drivers for chibios - several small fix on configuration files - fix in state and geodetic interface - fix for secondary GPS timeout - fix airframe generation to have all configuration variables first Paparazzi v5.9.0_testing ======================== First release candidate for v5.10 General ------- - using Coverity scan tool for static code analysis https://scan.coverity.com/projects/paparazzi-paparazzi - optitrack fixes and gps_datalink protocol updates [#1506] (https://github.com/paparazzi/paparazzi/pull/1506) [#1563] (https://github.com/paparazzi/paparazzi/pull/1563) - optitrack/natnet logging [#1538] (https://github.com/paparazzi/paparazzi/pull/1538) - factor out message library and tools into https://github.com/paparazzi/pprzlink [#1503] (https://github.com/paparazzi/paparazzi/pull/1513) - pprzlink: support reading unaligned fiels from messages [#1528] (https://github.com/paparazzi/paparazzi/pull/1528) - pprzlink: update to C API with file descriptor param [#1593] (https://github.com/paparazzi/paparazzi/pull/1593) - flight plans: allow variable declarations in flight plans [#1530] (https://github.com/paparazzi/paparazzi/pull/1530) - flight plans: load modules directly from a flight plan [#1540] (https://github.com/paparazzi/paparazzi/pull/1540) - flight plans: add call_once alias for run without looping [#1675] (https://github.com/paparazzi/paparazzi/pull/1675) - flight plans: simpler geofence safety behaviour definition [#1664] (https://github.com/paparazzi/paparazzi/pull/1644) [#1802] (https://github.com/paparazzi/paparazzi/pull/1802) - module build system: improvements to efficiently replace subsystems [#1534] (https://github.com/paparazzi/paparazzi/pull/1534) [#1590] (https://github.com/paparazzi/paparazzi/pull/1590) [#1643] (https://github.com/paparazzi/paparazzi/issues/1643) [#1728] (https://github.com/paparazzi/paparazzi/pull/1728) [#1760] (https://github.com/paparazzi/paparazzi/pull/1760) - paparazzi center: make console non-editable and CTRL-C usable to copy text [#1546] (https://github.com/paparazzi/paparazzi/pull/1546) [#1547] (https://github.com/paparazzi/paparazzi/pull/1547) - paparazzi center: better save dialog on quit to replace backup dialog at start [#1591] (https://github.com/paparazzi/paparazzi/pull/1591) [#1640] (https://github.com/paparazzi/paparazzi/pull/1640) - GCS: add Bebop-like rotorcraft icon [#1552] (https://github.com/paparazzi/paparazzi/pull/1552) - GCS: changed default layout and make it easier to configure [#1600] (https://github.com/paparazzi/paparazzi/pull/1600) [#1601] (https://github.com/paparazzi/paparazzi/pull/1601) - update to latest libopencm3 [#1557] (https://github.com/paparazzi/paparazzi/pull/1557) - build: print more verbose info on xml loading errors [#1570] (https://github.com/paparazzi/paparazzi/pull/1570) - build: add board specific flags: e.g. use link-time-optimization on smaller boards [#1645] (https://github.com/paparazzi/paparazzi/pull/1645) - OCaml: deal with string deprecated warnings for OCaml >= 4.02 [#1703] (https://github.com/paparazzi/paparazzi/issues/1703) - tools: video stream viewer with ROI selection [#1708] (https://github.com/paparazzi/paparazzi/pull/1708) - add a vertical component to the wind vector [#1713] (https://github.com/paparazzi/paparazzi/pull/1713) - math: fix overflow in int32_quat_vmult [#1722] (https://github.com/paparazzi/paparazzi/pull/1722) - math: int32 generic vector math [#1758] (https://github.com/paparazzi/paparazzi/pull/1758) - cockpit: workaround lablgtk 2.18 Debian/Ubuntu bug [#1647] (https://github.com/paparazzi/paparazzi/pull/1647) - GCS: plot shapes on the map [#1809] (https://github.com/paparazzi/paparazzi/pull/1809) - paparazzicenter: experimental Python version [#1811] (https://github.com/paparazzi/paparazzi/pull/1811) - try to prevent speech spam in GCS [#1842] (https://github.com/paparazzi/paparazzi/pull/1842) Airborne -------- - gps: cleanup utm support and remove GPS_USE_LATLONG flag [#1476] (https://github.com/paparazzi/paparazzi/pull/1476) - gps: support multiple GPS at once with automatic switching [#1532] (https://github.com/paparazzi/paparazzi/pull/1532) - gps: fix GPS mediatek diy compilation [#1525] (https://github.com/paparazzi/paparazzi/pull/1525/files) - gps: revive UBlox via I2C support via gps_ubx_i2c module [#1580] (https://github.com/paparazzi/paparazzi/pull/1580) - sdlog: add SD logging for some meteo sensors on compatible boards [#1498] (https://github.com/paparazzi/paparazzi/pull/1498) [#1512] (https://github.com/paparazzi/paparazzi/pull/1512) - datalink: update bluegiga protocol [#1507] (https://github.com/paparazzi/paparazzi/pull/1507) - module: computer vision: orange avoider example [#1539] (https://github.com/paparazzi/paparazzi/pull/1539) - module: refactor XSens drivers and conver them to modules [#1541] (https://github.com/paparazzi/paparazzi/pull/1541) - module: improve optic flow calculation in LukasKanade and add edgeflow [#1558] (https://github.com/paparazzi/paparazzi/pull/1558) [#1586] (https://github.com/paparazzi/paparazzi/pull/1586) - replace bool_t with C99 bool from stdbool.h [#1577] (https://github.com/paparazzi/paparazzi/pull/1577) - module: add px4_gimbal for gimal control on Pixhawk [#1592] (https://github.com/paparazzi/paparazzi/pull/1592) - module: add esc32 for ESC32v3 speed controller [#1636] (https://github.com/paparazzi/paparazzi/pull/1636) - module: Support uADC probe from Aeroprobe [#1639] (https://github.com/paparazzi/paparazzi/pull/1639) - module: nav routine for pneumatic launcher takeoff [#1655] (https://github.com/paparazzi/paparazzi/pull/1655) - module: nav routine for skid landing [#1669] (https://github.com/paparazzi/paparazzi/pull/1669) - module: rpm_sensor [#1666] (https://github.com/paparazzi/paparazzi/pull/1666) - module: pose_history [#1737] (https://github.com/paparazzi/paparazzi/pull/1737) - improved vision pipeline with dual video support and async threads [#1648] (https://github.com/paparazzi/paparazzi/pull/1648) [#1735] (https://github.com/paparazzi/paparazzi/pull/1735) [#1764] (https://github.com/paparazzi/paparazzi/pull/1764) [#1806] (https://github.com/paparazzi/paparazzi/pull/1806) - computer vision: optical flow landing module [#1611] (https://github.com/paparazzi/paparazzi/pull/1611) - computer vision: openCV examples [#1663] (https://github.com/paparazzi/paparazzi/pull/1663) [#1789] (https://github.com/paparazzi/paparazzi/pull/1789) [#1798] (https://github.com/paparazzi/paparazzi/pull/1798) [#1824] (https://github.com/paparazzi/paparazzi/pull/1824) - computer vision: image appearance representation using texton distribution [#1692] (https://github.com/paparazzi/paparazzi/pull/1692) - UTM handling upgrades [#1629] (https://github.com/paparazzi/paparazzi/pull/1629) [#1637] (https://github.com/paparazzi/paparazzi/pull/1637) [#1730] (https://github.com/paparazzi/paparazzi/pull/1730) - datalink: add bluegiga capability to decode direct air-2-air messages [#1633] (https://github.com/paparazzi/paparazzi/pull/1633) - filters: delayed first order filter, second order notch filter [#1736] (https://github.com/paparazzi/paparazzi/pull/1736) [#1733] (https://github.com/paparazzi/paparazzi/pull/1733) - convert subsystems to modules [#1625] (https://github.com/paparazzi/paparazzi/pull/1625) [#1638] (https://github.com/paparazzi/paparazzi/pull/1638) [#1740] (https://github.com/paparazzi/paparazzi/pull/1740) [#1788] (https://github.com/paparazzi/paparazzi/pull/1788) - telemetry over intermcu [#1821] (https://github.com/paparazzi/paparazzi/pull/1821) - unified sys_mon and rtos_mon modules [#1846] (https://github.com/paparazzi/paparazzi/pull/1846) Rotorcraft firmware ------------------- - add velocity commands for guided mode [#1502] (https://github.com/paparazzi/paparazzi/pull/1502) - add traffic info support [#1509] (https://github.com/paparazzi/paparazzi/pull/1509) - refactor INDI stabilization and INDI rate control [#1519] (https://github.com/paparazzi/paparazzi/pull/1519) - add oval navigation routine (like in fixedwing) [#1568] (https://github.com/paparazzi/paparazzi/pull/1568) - improve helicopter support: spinup routines and flight plan mode manual [#1606] (https://github.com/paparazzi/paparazzi/pull/1606) - helicopter: INDI controller [#1752] (https://github.com/paparazzi/paparazzi/pull/1752) - converted PI rate controller to float [#1624] (https://github.com/paparazzi/paparazzi/pull/1624) - better defaults for vertical climb mode to avoid surprises [#1627] (https://github.com/paparazzi/paparazzi/issues/1627) - extension of the guided protocol [#1694] (https://github.com/paparazzi/paparazzi/pull/1694) - guidance for hybrid drones [#1769] (https://github.com/paparazzi/paparazzi/pull/1769) Fixed-wing firmware ------------------- - split AP and FBW taks when using ChibiOS [#1767] (https://github.com/paparazzi/paparazzi/pull/1767) - Hard-fault recovery wen using ChibiOS [#1815] (https://github.com/paparazzi/paparazzi/pull/1815) Drivers/HW support ------------------ - peripherals: MPUxxxx: configure multiple I2C slaves [#1499] (https://github.com/paparazzi/paparazzi/pull/1499) - peripherals: MPU60x0: fix startup bug [#1602] (https://github.com/paparazzi/paparazzi/pull/1602) - peripherals: support for AK8975 mag in MPU9150 [#1508] (https://github.com/paparazzi/paparazzi/pull/1508) - support for Pixhawk board (with split ap/fbw processors) [#1551] (https://github.com/paparazzi/paparazzi/pull/1551) [#1566] (https://github.com/paparazzi/paparazzi/pull/1566) [#1569] (https://github.com/paparazzi/paparazzi/pull/1569) [#1587] (https://github.com/paparazzi/paparazzi/pull/1587) - Parrot Bebop: increase luminosity of front camera [#1562] (https://github.com/paparazzi/paparazzi/pull/1562) - Parrot Bebop: fix for firmware 3.2.0 [#1745] (https://github.com/paparazzi/paparazzi/pull/1745) [#1828] (https://github.com/paparazzi/paparazzi/pull/1828) - Parrot Bebop: camera upgrade [#1750] (https://github.com/paparazzi/paparazzi/pull/1750) [#1766] (https://github.com/paparazzi/paparazzi/pull/1766) [#1818] (https://github.com/paparazzi/paparazzi/pull/1818) [#1825] (https://github.com/paparazzi/paparazzi/pull/1825) [#1826] (https://github.com/paparazzi/paparazzi/pull/1826) [#1834] (https://github.com/paparazzi/paparazzi/pull/1834) - Parrot ARDrone2/Bebop: startup fixes [#1571] (https://github.com/paparazzi/paparazzi/pull/1571) [#1588] (https://github.com/paparazzi/paparazzi/pull/1588) - support for new OPA (Oversized Paparazzi Autopilot) [#1615] (https://github.com/paparazzi/paparazzi/pull/1615) [#1657] (https://github.com/paparazzi/paparazzi/pull/1657) - drop support for classix [#1626] (https://github.com/paparazzi/paparazzi/pull/1626) - CAN support for STM32F4 [#1670] (https://github.com/paparazzi/paparazzi/pull/1670) - support for OpenPilot Revolution board (without modem) [#1676] (https://github.com/paparazzi/paparazzi/pull/1676) - support for pure ChibiOS architecture [#1699] (https://github.com/paparazzi/paparazzi/pull/1699) [#1743] (https://github.com/paparazzi/paparazzi/pull/1743) [#1767] (https://github.com/paparazzi/paparazzi/pull/1767) Simulator --------- - NPS: simulate airspeed and temperature sensors and get pressure from FDM [#1554] (https://github.com/paparazzi/paparazzi/pull/1554) - NPS: set wind via FlightGear [#1565] (https://github.com/paparazzi/paparazzi/pull/1565) - gaia: fix environment simulator time scale selector [#1653] (https://github.com/paparazzi/paparazzi/issues/1653) Paparazzi v5.8.2_stable ======================= Maintenance release. - ground_segment: fix ant_track compilation - docker: use Ubuntu 16.04 and various fixes - energy ctrl: fix accel conversion for correct vdot - system: update udev rules to detect Lisa/M v2.1 correctly - cockpit: workaround lablgtk 2.18 Debian/Ubuntu bug - modules: fix gps_ublox for fixedwings Paparazzi v5.8.1_stable ======================= Maintenance release. - ground segment: python tools fixes - module: stereocam2state improvements/fixes [#1490] (https://github.com/paparazzi/paparazzi/pull/1490) - module: fix gps_ublox - boards: naze32: default to SERIAL (USB) flash mode - generators: always put configure options at beginning [#1517] (https://github.com/paparazzi/paparazzi/pull/1517) - generators: varous fixes for loading of modules and subsystems - drivers: fix regression of wrong magnetometer axis on Parrot Bebop Paparazzi v5.8.0_stable ======================= Stable version release. - module: nav_catapult: avoid conditional directives [#1454] (https://github.com/paparazzi/paparazzi/pull/1454) - module: gps_ubx_ucenter fix autobaud and autoconf for ublox-8 [#1480] (https://github.com/paparazzi/paparazzi/pull/1480) - module: add stereocam2state which publishes a VELOCITY_ESTIMATE from stereocam [#1486] (https://github.com/paparazzi/paparazzi/pull/1486) - arch/linux: I2C: use repeated-start for transceive as required by some sensors [#1469] (https://github.com/paparazzi/paparazzi/pull/1469) - remove unused libeknav and fms folder [#1487] (https://github.com/paparazzi/paparazzi/pull/1487) Paparazzi 5.7.1_testing ======================= Second release candidate for v5.8 stable release. - SPI slave implemented and tested for STM32F4 [#1456] (https://github.com/paparazzi/paparazzi/pull/1456) - Added support for Elle0 V1.2 [#1465] (https://github.com/paparazzi/paparazzi/pull/1465) - Bebop: fix motor directions [#1466] (https://github.com/paparazzi/paparazzi/pull/1466) [#1468] (https://github.com/paparazzi/paparazzi/pull/1468) [#1474] (https://github.com/paparazzi/paparazzi/pull/1474) - stereo camera modules: obstacle avoidance and follow me [#1462] (https://github.com/paparazzi/paparazzi/pull/1462) [#1472] (https://github.com/paparazzi/paparazzi/pull/1472) [#1473] (https://github.com/paparazzi/paparazzi/pull/1473) - fix video_rtp_stream and bebop_front_camera if not using UDP for telemetry - modules xml requires doc and description now - Modules can be used like subsystems in airframe files [#1471] (https://github.com/paparazzi/paparazzi/pull/1471) - rotorcraft rate controller setpoints in deg/s [#1479] (https://github.com/paparazzi/paparazzi/pull/1479) - Guided mode for rotorcrafts [#1457] (https://github.com/paparazzi/paparazzi/pull/1457) - naze32: PPM input on PA0 by default [#1481] (https://github.com/paparazzi/paparazzi/pull/1481) Paparazzi 5.7.0_testing ======================= First release candidate for v5.8 stable release. General ------- - Tell Black Magic probe to use the reset pin before scanning [#1301] (https://github.com/paparazzi/paparazzi/pull/1301) - Optitrack/Natnet: Implement smaller GPS messages from NATNET to PPRZ [#1308] (https://github.com/paparazzi/paparazzi/pull/1308) - Paparazzi Center: update list of settings on build [#1331] (https://github.com/paparazzi/paparazzi/issues/1331) - Paparazzi Center: add reload button [#1359] (https://github.com/paparazzi/paparazzi/pull/1359) - Paparazzi Center: easily create new aircraft by copying existing aircraft [#1209] (https://github.com/paparazzi/paparazzi/issues/1209) - python messages parser: add unit conversion coeffs [#1340] (https://github.com/paparazzi/paparazzi/pull/1340) - server: increase maximum Ivy message length for use with many settings [#1344] (https://github.com/paparazzi/paparazzi/issues/1344) - flight plans: add exec attribute to exceptions [#1347] (https://github.com/paparazzi/paparazzi/pull/1347) - python: compare and test different attitude reference models [#1357] (https://github.com/paparazzi/paparazzi/pull/1357) - GCS: only print bat warning every 10s [#1358] (https://github.com/paparazzi/paparazzi/pull/1358) - GCS: kill confirmation opitional with -no_confirm_kill option [#873] (https://github.com/paparazzi/paparazzi/issues/873) - GCS: load KML sectors for display in GCS [#404] (https://github.com/paparazzi/paparazzi/issues/404) - GCS: fix zoom of video papget [#889] (https://github.com/paparazzi/paparazzi/issues/889) - generators: check waypoint altitude against SRTM data [#1361] (https://github.com/paparazzi/paparazzi/pull/1361) - Add ADS-B parser and handling of INTRUDERS [#1372] (https://github.com/paparazzi/paparazzi/pull/1372) - logalizer: replay ground messages [#1380] (https://github.com/paparazzi/paparazzi/pull/1380) - messages: support multiple variable length arrays in telemetry [#1385] (https://github.com/paparazzi/paparazzi/pull/1385) - Docker: fix script to run Docker on OSX (with X-access) [#1425] (https://github.com/paparazzi/paparazzi/pull/1425) - python: fix messages/settings with wxgtk3.0 [#1435] (https://github.com/paparazzi/paparazzi/issues/1435) - flight plans for fixedwing: force UTM zone of waypoints to same as ref point to fix waypoints across two UTM zones [#303] (https://github.com/paparazzi/paparazzi/issues/303) - realtime plotter: fix issue on Ubuntu with Unity [#1446] (https://github.com/paparazzi/paparazzi/issues/1446) Airborne -------- - INS: vertical filter: rename VF_FLOAT_x defines to VFF_x - persistent_settings: add settings_clear [#1309] (https://github.com/paparazzi/paparazzi/pull/1309) - electrical: fix non-real number possibility in current calculation [#1314] (https://github.com/paparazzi/paparazzi/pull/1314) - electrical: improve current estimation with MILLIAMP_AT_IDLE_THROTTLE [#1319] (https://github.com/paparazzi/paparazzi/pull/1319) - energy control: use ABI instead of IMU struct [#1324] (https://github.com/paparazzi/paparazzi/pull/1324) - state interface: pass basic types by value [#1330] (https://github.com/paparazzi/paparazzi/pull/1330) - settings: mark a lot more settings as persistent [#1345] (https://github.com/paparazzi/paparazzi/pull/1345) - add OPTICAL_FLOW and VELOCITY_ESTIMATE ABI messages [#1350] (https://github.com/paparazzi/paparazzi/pull/1350) - INS: use opticflow/VELOCITY_ESTIMATE in filter [#1387] (https://github.com/paparazzi/paparazzi/issues/1387) [#1412] (https://github.com/paparazzi/paparazzi/pull/1412) - radio_control: change spektrum and superbitrf channel signs to conform to standard [#1403] (https://github.com/paparazzi/paparazzi/pull/1403) - actuators: add Spektrum output actuators [#1411] (https://github.com/paparazzi/paparazzi/pull/1411) - actuators: new AscTec ESC I2C protocol [#1416] (https://github.com/paparazzi/paparazzi/pull/1416) - periodic telemetry: possibility to register periodic message multiple times [#1440] (https://github.com/paparazzi/paparazzi/pull/1440) - AHRS/messages: add component/filter ID to AHRS messages [#1441] (https://github.com/paparazzi/paparazzi/pull/1441) - peridic telemetry: use msg ID instead of strings for matching (reduces size) and add support for mavlink [#1448] (https://github.com/paparazzi/paparazzi/pull/1448) - math: possibility to compress sine table for flash and RAM [#1452] (https://github.com/paparazzi/paparazzi/pull/1452) Rotorcraft firmware ------------------- - navigation: tunable navigation parameters in airframe file [#1315] (https://github.com/paparazzi/paparazzi/pull/1315) - guidance: add a flip mode [#1352] (https://github.com/paparazzi/paparazzi/pull/1352) - guidance: add outer loop INDI control [#1354] (https://github.com/paparazzi/paparazzi/pull/1354) - stabilization: refactor attitude reference generation and runtime adjustable saturation [#1374] (https://github.com/paparazzi/paparazzi/pull/1374) [#1382] (https://github.com/paparazzi/paparazzi/pull/1382) - radio control: possibility to use two 2way switches for mode [#1375] (https://github.com/paparazzi/paparazzi/pull/1375) - support dual-mcu setup with split autopilot (AP) and FlyByWire (FBW) [#1423] (https://github.com/paparazzi/paparazzi/pull/1423) - support for helicopter/swashplate mixing and throttle curves [#1437] (https://github.com/paparazzi/paparazzi/pull/1437) - tmtc/server: set course correctly from east/north velocity for correct ACINFO [#1449] (https://github.com/paparazzi/paparazzi/pull/1449) - possibility to use NAV mode without GPS (define NO_GPS_NEEDED_FOR_NAV) [#1451] (https://github.com/paparazzi/paparazzi/issues/1451) Modules ------- - video_rtp_stream: make sending via RTP configurable and fix netcat option [#1293] (https://github.com/paparazzi/paparazzi/pull/1293) [#1426] (https://github.com/paparazzi/paparazzi/pull/1426) - video_exif: Add GPS coordinates in JPEG images [#1311] (https://github.com/paparazzi/paparazzi/pull/1311) - bebop_front_camera: front camera streaming at low resolution [#1313] (https://github.com/paparazzi/paparazzi/pull/1313) - stereocam module: decode TUDelft stereocam messages [#1317] (https://github.com/paparazzi/paparazzi/pull/1317) [#1342] (https://github.com/paparazzi/paparazzi/pull/1342) [#1362] (https://github.com/paparazzi/paparazzi/pull/1362) [#1433] (https://github.com/paparazzi/paparazzi/pull/1433) - digital_cam_video: trigger video_rtp_stream to store JPEG images [#1323] (https://github.com/paparazzi/paparazzi/pull/1323) - cv_qrcode: read QR code using libzbar [#1327] (https://github.com/paparazzi/paparazzi/pull/1327) - video_thread: simple framework to read video and add other computer vision modules [#1328] (https://github.com/paparazzi/paparazzi/pull/1328) - opticflow: add linear optical flow fit [#1332] (https://github.com/paparazzi/paparazzi/pull/1332) - cv_blob_locator: Find a colored item and track its geo-location and update a waypoint to it [#1348] (https://github.com/paparazzi/paparazzi/pull/1348) - dropzone: select a dropzone [#1356] (https://github.com/paparazzi/paparazzi/pull/1356) - logger_sd_spi_direct: high speed logging to SD Card (via SPI) [#1392] (https://github.com/paparazzi/paparazzi/pull/1392) - cleanup configure options for SPI/I2C devices [#1424] (https://github.com/paparazzi/paparazzi/pull/1424) - mavlink: modify waypoints and add Paparazzi specific SCRIPT messages to change blocks [#1422] (https://github.com/paparazzi/paparazzi/pull/1422) [#1434] (https://github.com/paparazzi/paparazzi/pull/1434) Simulation ---------- - fixedwing sim: fix datalink_time [#1394] (https://github.com/paparazzi/paparazzi/pull/1394) - NPS: use UDP for telemetry/datalink [#1404] (https://github.com/paparazzi/paparazzi/pull/1404) Drivers/HW support ------------------ - peripherals: hmc58xx: only set data available if measurements were valid - imu: booz2 v1.2 has HMC5843 [#1300] (https://github.com/paparazzi/paparazzi/pull/1300) - STM32F4: added support for persistent settings [#1302] (https://github.com/paparazzi/paparazzi/pull/1302) - telemetry via Bluegiga bluetooth module (SPI) [#1303] (https://github.com/paparazzi/paparazzi/pull/1303) [#1325] (https://github.com/paparazzi/paparazzi/pull/1325) [#1365] (https://github.com/paparazzi/paparazzi/pull/1365) [#1388] (https://github.com/paparazzi/paparazzi/pull/1388) [#1401] (https://github.com/paparazzi/paparazzi/pull/1401) - INS: Vectornav VN-200 driver [#1318] (https://github.com/paparazzi/paparazzi/pull/1318) - apogee: IMU: test_baro_board with IMU [#1310] (https://github.com/paparazzi/paparazzi/pull/1310/commits) - Bebop: bottom camera with VGA resolution [#1316] (https://github.com/paparazzi/paparazzi/pull/1316) - Parrot drones: easier switching between bottom and front cameras [#1333] (https://github.com/paparazzi/paparazzi/pull/1333) - Bebop: fix RPM measurements [#1400] (https://github.com/paparazzi/paparazzi/pull/1400) - support for Bebop2 [#1429] (https://github.com/paparazzi/paparazzi/pull/1429) - Improve Piksi GPS (DGPS, RTK) support [#1349] (https://github.com/paparazzi/paparazzi/pull/1349) [#1386] (https://github.com/paparazzi/paparazzi/pull/1386) - STM32: fix ADC bug when trying to use higher channels [#1366] (https://github.com/paparazzi/paparazzi/pull/1366) - STM32: fix SPI slave initialization [#1371] (https://github.com/paparazzi/paparazzi/pull/1371) - boards: support for naze32, CC3D and CJMCU [#1452] (https://github.com/paparazzi/paparazzi/pull/1452) Paparazzi 5.6.0_stable ====================== Stable version release. - compile/run paparazzi in a docker container [#1272] (https://github.com/paparazzi/paparazzi/pull/1272) - multimon: fix compilation with gcc 5.x [#1276] (https://github.com/paparazzi/paparazzi/pull/1276) - arch/linux: replace mcu event polling with threads [#1277] (https://github.com/paparazzi/paparazzi/pull/1277) - ardrone2: make UART1_DEV changeable from airframe file - optitrack/natnet: update to version 2.7 [#1275] (https://github.com/paparazzi/paparazzi/pull/1275) [#1284] (https://github.com/paparazzi/paparazzi/pull/1284) - link/GCS: fix LINK_REPORT and display of link status in GCS [#1279] (https://github.com/paparazzi/paparazzi/pull/1279) - GPS: add hmsl to GPS_LLA message [#1282] (https://github.com/paparazzi/paparazzi/pull/1282) - modules: set nice level for viewvideo thread [#1283] (https://github.com/paparazzi/paparazzi/pull/1283) - arch/linux: Rename uart/udp_transmit to uart/udp_put_byte [#1285] (https://github.com/paparazzi/paparazzi/pull/1285) - GPS: NMEA parser fixes [#1287] (https://github.com/paparazzi/paparazzi/pull/1287) - modules: viewvideo, fix image path [#1289] (https://github.com/paparazzi/paparazzi/issues/1289) - simulator: FlightGear visualization using native-fdm for NPS [#1290] (https://github.com/paparazzi/paparazzi/pull/1290) - rotorcraft: INDI stabilization updates [#1292] (https://github.com/paparazzi/paparazzi/pull/1292) - boards: add support for ELLE0 [#1294] (https://github.com/paparazzi/paparazzi/pull/1294) - arch/linux: uart: fix crash if device does not exist [#1299] (https://github.com/paparazzi/paparazzi/pull/1299) Paparazzi 5.5.2_testing ======================= Thirst release canditate for v5.6 stable release. - ardrone2 and bebop: disable even loop limiting again [#1240] (https://github.com/paparazzi/paparazzi/pull/1240) - bebop: finally fix I2C address for baro - modules: update geo_mag to latest WMM2015 model [#1270] (https://github.com/paparazzi/paparazzi/pull/1270) - settings: add optional target attribute and calc MD5sum according to usable settings [#1157] (https://github.com/paparazzi/paparazzi/pull/1157) - stm32: improve I2C stability in case of stuck bus [#1264] (https://github.com/paparazzi/paparazzi/pull/1264) - i2c: cleanup I2C_ERRORS reporting [#1268] (https://github.com/paparazzi/paparazzi/pull/1268) - modules: add divergen calculation for opticflow [#1262] (https://github.com/paparazzi/paparazzi/pull/1262) - python: Add some utilities and a serial link interface to decode/encode PPRZ messages over a serial link [#1261] (https://github.com/paparazzi/paparazzi/pull/1261) - modules: mag_hmc58xx: configure MAG_HMC58XX_I2C_DEV [#1274] (https://github.com/paparazzi/paparazzi/pull/1274) - IMU: possibility to disable mag on aspirin 2 [#1273] (https://github.com/paparazzi/paparazzi/pull/1273) - fixedwing: fix H_CTL_YAW_LOOP in stabilization adaptive Paparazzi 5.5.1_testing ======================= Second release candidate for v5.6 stable release. - rotorcraft: fix stabilization INDI crash on takeoff bug [#1255] (https://github.com/paparazzi/paparazzi/pull/1255) - airborne: change ABI_BROADCAST id from 0 to 255 and introduce ABI_DISABLE [#1260] (https://github.com/paparazzi/paparazzi/pull/1260) - airframes: cleanup and use standard motor mixing types [#1231] (https://github.com/paparazzi/paparazzi/pull/1231) [#1249] (https://github.com/paparazzi/paparazzi/pull/1249) - ahrs: reduced default ahrs align delay [#1256] (https://github.com/paparazzi/paparazzi/pull/1256) - add an optional board_init function and fix bat check on bebop [#1253] (https://github.com/paparazzi/paparazzi/pull/1253) - ARDrone2: fix battery checks, needs bat_voltage_ardrone2 module now [#1252] (https://github.com/paparazzi/paparazzi/pull/1252) - paparazzi center: improve handling of programs from control_panel.xml [#1247] (https://github.com/paparazzi/paparazzi/pull/1247) - server: set http port, replace -kml_port option with -port [#1248] (https://github.com/paparazzi/paparazzi/pull/1248) - logalizer: rename plot to logplotter for clarity [#1226] (https://github.com/paparazzi/paparazzi/pull/1226 - GCS: don't prove airframe dtd if served via http [#1246] (https://github.com/paparazzi/paparazzi/pull/1246) - Fixed unsanctioned yaw unkill problem with uninitialised joysticks [#1242] (https://github.com/paparazzi/paparazzi/pull/1242) Paparazzi 5.5.0_testing ======================= First release candidate for v5.6 stable release. General ------- - paparazzi center: disable build/upload buttons during build/upload [#603] (https://github.com/paparazzi/paparazzi/issues/603) - paparazzi center: case insensitive sort of airframe combobox [#993] (https://github.com/paparazzi/paparazzi/issues/993) - paparazzi center: add `@AIRCRAFT` and `@AC_ID` placeholders for generic sessions [#1217] (https://github.com/paparazzi/paparazzi/pull/1217) - GCS: improve papgets with multi aircraft support [#1068] (https://github.com/paparazzi/paparazzi/pull/1068) - GCS: fix undo for list of values [#1054] (https://github.com/paparazzi/paparazzi/issues/1054) - GCS: fix AIRCRAFTS syncronization issue with server (sometimes resulted in blank GCS) [#1078] (https://github.com/paparazzi/paparazzi/issues/1078) - GCS: set bat level to UNK/0 at startup [#885] (https://github.com/paparazzi/paparazzi/issues/885) - GCS: add -ac_ids option to specify displayed aircrafts [#1173] (https://github.com/paparazzi/paparazzi/pull/1173) - GCS: add new flat icon theme [#1193] (https://github.com/paparazzi/paparazzi/pull/1193) [#1234] (https://github.com/paparazzi/paparazzi/pull/1234) - plotter: add support for adding constant curves via command line [#1227] (https://github.com/paparazzi/paparazzi/pull/1227) - logplotter: rename plot to logplotter for clarity [#1226] (https://github.com/paparazzi/paparazzi/pull/1226) - ground segment: add geometry param to messages and setttings agents [#1232] (https://github.com/paparazzi/paparazzi/pull/1232) - ground segment: improve Ivy efficiency [#1082] (https://github.com/paparazzi/paparazzi/pull/1082) - link: parameters for period of PING and LINK_REPORT messages [#1037] (https://github.com/paparazzi/paparazzi/issues/1037) - link: add '-ac_timeout' parameter after which AC is marked as dead [#820] (https://github.com/paparazzi/paparazzi/issues/820) - OCaml: try to live in harmony with the garbage collector [#1076] (https://github.com/paparazzi/paparazzi/pull/1076) - OCaml: use Array.make instead of deprecated Array.create - OCaml: use camlp4 to ifdef around netclient/lablgtk version differences [#1137] (https://github.com/paparazzi/paparazzi/pull/1137) - OCaml: fix string formatting of values in pprz ocaml lib [#1135] (https://github.com/paparazzi/paparazzi/pull/1138) - OCaml: remove deprecated GnoDruid - python: generate paparazzi math wrappers with SWIG [#1066] (https://github.com/paparazzi/paparazzi/pull/1066) - python: improve ivy messages interface [#1073] (https://github.com/paparazzi/paparazzi/pull/1073) - python: add simple ivy2redis script [#1071] (https://github.com/paparazzi/paparazzi/pull/1071) - python: add report tool for IMU scaled messages [#1194] (https://github.com/paparazzi/paparazzi/pull/1194) - build: Possibilty to specify conf.xml file for building aircrafts [#1134] (https://github.com/paparazzi/paparazzi/pull/1134) - build: use -ggdb3 DEBUG_FLAGS by default [#1164] (https://github.com/paparazzi/paparazzi/pull/1164) - build: use pkg-config for ivy-c if available - joystick: add new RC USB joystick from HobbyKing [#1088] (https://github.com/paparazzi/paparazzi/pull/1088) - conf: add HooperFly quad/hexa/octo airframe/JSBSim configs and new GCS icons [#1081] (https://github.com/paparazzi/paparazzi/pull/1081) - flight plans: dynamic sectors and InsideX function for concave polygons [#643] (https://github.com/paparazzi/paparazzi/issues/643) [#605] (https://github.com/paparazzi/paparazzi/issues/605) [#1204] (https://github.com/paparazzi/paparazzi/pull/1204) - improve defining of arrays in the airframe file [#564] (https://github.com/paparazzi/paparazzi/issues/564) [#1192] (https://github.com/paparazzi/paparazzi/pull/1192) - update udev rules [#1165] (https://github.com/paparazzi/paparazzi/pull/1165) - update google map version extraction script Airborne -------- - allow to pass variables by value to ABI callbacks [#1087] (https://github.com/paparazzi/paparazzi/pull/1087) - major refactoring of AHRS/INS interfaces using ABI, add dual AHRS support [#856] (https://github.com/paparazzi/paparazzi/pull/856) [#1130] (https://github.com/paparazzi/paparazzi/pull/1130) - AHRS: add (yet another) AHRS based on an invariant filter - GPS/IMU: directly send ABI messages from implementation [#1153] (https://github.com/paparazzi/paparazzi/pull/1153) [#1154] (https://github.com/paparazzi/paparazzi/pull/1154) - refactoring, use the generic LinkDevice interface for receiving data streams [#1140] (https://github.com/paparazzi/paparazzi/pull/1140) - telemetry: store periodic telemetry msg names as const to save ram [#1151] (https://github.com/paparazzi/paparazzi/pull/1151) - actuators: dual dual pwm [#1102] (https://github.com/paparazzi/paparazzi/pull/1102) - GPS: NMEA parser improvements [#1146] (https://github.com/paparazzi/paparazzi/pull/1146) - GPS: fix furuno parser (Bebop) [#1148] (https://github.com/paparazzi/paparazzi/pull/1148) - INS: start considering BODY_TO_GPS translation [#1080] (https://github.com/paparazzi/paparazzi/pull/1080) - INS: update NED accel with ins_alt_float [#1156] (https://github.com/paparazzi/paparazzi/pull/1156) - INS: prevent propagation if there are no measurement updates [#1241] (https://github.com/paparazzi/paparazzi/pull/1241) - cleanup: remove unused/unmaintained beth and fms code [#1162] (https://github.com/paparazzi/paparazzi/pull/1162) - state interface: fix LLA calculation if only UTM origin initialized [#1171] (https://github.com/paparazzi/paparazzi/pull/1171) - chibios SD logger: fix bad file name problem - fixedwing stabilization: yaw damper and active lift ctrl [#1190] (https://github.com/paparazzi/paparazzi/pull/1190) Rotorcraft firmware ------------------- - fix attitude flight plan primitive (attitude_set_rpy_setpoint) [#1103] (https://github.com/paparazzi/paparazzi/pull/1103) - implement global waypoints for rotorcrafts [#1065] (https://github.com/paparazzi/paparazzi/pull/1065) - improve motor_mixing priorities [#1170] (https://github.com/paparazzi/paparazzi/pull/1170) - predefined motor_mixing for common configurations [#1175] (https://github.com/paparazzi/paparazzi/pull/1175) [#1244] (https://github.com/paparazzi/paparazzi/pull/1244) - heading integration protection in RC-event [#1174] (https://github.com/paparazzi/paparazzi/pull/1174) - waypoint API function naming cleanup [#1169] (https://github.com/paparazzi/paparazzi/pull/1169) - guidance: fix max bank angle limit - make the heading flight plan primitive usable [#1218] (https://github.com/paparazzi/paparazzi/pull/1218) - add simplified INDI (Incremental Nonlinear Dynamic Inversion) stabilization [#1207] (https://github.com/paparazzi/paparazzi/pull/1207) - stabilization quat_int: reduce integrator quantization error [#1205] (https://github.com/paparazzi/paparazzi/pull/1205) - fix arming with kill switch [#1125] (https://github.com/paparazzi/paparazzi/pull/1125) Modules ------- - allow conditions in module defines and update meteo_stick [#1092] (https://github.com/paparazzi/paparazzi/pull/1092) - rewrite nav_bungee_takeoff [#1074] (https://github.com/paparazzi/paparazzi/pull/1074) - add video_usb_logger for ARDrone2 [#1086] (https://github.com/paparazzi/paparazzi/pull/1086) - optic flow based hover for ARDrone2 [#1062] (https://github.com/paparazzi/paparazzi/pull/1062) - airspeed_ets: add 3rd party mode support [#1099] (https://github.com/paparazzi/paparazzi/pull/1099) - refactor logger modules [#1095] (https://github.com/paparazzi/paparazzi/pull/1095) - AHRS: convert AHRS infrared to a module [#1127] (https://github.com/paparazzi/paparazzi/pull/1127) - create_module: enforce lowercase file and dir and function names [#914] (https://github.com/paparazzi/paparazzi/issues/914) - add flight_recorder, log to SD card or uart, configure via telemetry.xml [#1114] (https://github.com/paparazzi/paparazzi/pull/1144) - air_data: take geoid separation into account when calculating QNH - air_data: use CAS/EAS for airspeed and send TAS in message [#1155] (https://github.com/paparazzi/paparazzi/pull/1155) - digital_cam: specify time in seconds [#1172] (https://github.com/paparazzi/paparazzi/pull/1172) - amsys baro/airspeed: fixed max pressure for 5812-0001-D [#1181] (https://github.com/paparazzi/paparazzi/pull/1181/files) - add survey rectangle module for rotorcrafts [#1168] (https://github.com/paparazzi/paparazzi/pull/1168) - fix mission module for rotorcrafts Simulation ---------- - NPS: add possibility to simulate loss of datalink/downlink [#1150] (https://github.com/paparazzi/paparazzi/pull/1150) - NPS: update FDM bindings to be compatible with latest JSBSim [#1118] (https://github.com/paparazzi/paparazzi/pull/1118) - remove jsbsim target (fully replaced by NPS) [#1123] (https://github.com/paparazzi/paparazzi/pull/1123) - build: don't add full path to NPS object files [#798] (https://github.com/paparazzi/paparazzi/issues/798) - NPS simulator: fix sensor simulation issues [#1131] (https://github.com/paparazzi/paparazzi/pull/1131) [#1132] (https://github.com/paparazzi/paparazzi/pull/1132) - NPS/FlightGear: add models for easystar (with ailerons) and Eternity [#1159] (https://github.com/paparazzi/paparazzi/pull/1159) - Updated FlightGear interface and removed obsolete HITL files [#1196] (https://github.com/paparazzi/paparazzi/pull/1196) - NPS: support gaia environment simulator [#1219] (https://github.com/paparazzi/paparazzi/pull/1219) Linux arch support ------------------ - rewrite of the linux video modules [#1094] (https://github.com/paparazzi/paparazzi/pull/1094) [#1143] (https://github.com/paparazzi/paparazzi/pull/1143) - change the sys timer to a multi threaded implementation [#1117] (https://github.com/paparazzi/paparazzi/pull/1117) - implement persistent settings [#1109] (https://github.com/paparazzi/paparazzi/pull/1109) - refactor UDP support [#1120] (https://github.com/paparazzi/paparazzi/pull/1120) [#1122] (https://github.com/paparazzi/paparazzi/pull/1122) [#1158] (https://github.com/paparazzi/paparazzi/pull/1158) - fix UART driver [#1110] (https://github.com/paparazzi/paparazzi/pull/1110) - sys_time: get time from CLOCK_MONOTONIC [#1128] (https://github.com/paparazzi/paparazzi/pull/1128) - I2C: use 8 bit I2C address scheme for all drivers [#1210] (https://github.com/paparazzi/paparazzi/issues/1210) - limit main loop to 1kHz to prevent 100% cpu usage due to event polling [#1240] (https://github.com/paparazzi/paparazzi/pull/1240) other drivers/HW support ------------------------ - remove support for ARDrone2 SDK version [#1222] (https://github.com/paparazzi/paparazzi/pull/1222) - ARDrone2: add support for dynamic Ad-Hoc networking with OSLR [#1097] (https://github.com/paparazzi/paparazzi/pull/1097) - Parrot Bebop: support all sensors including sonar [#1149] (https://github.com/paparazzi/paparazzi/issues/1149) [#1182] (https://github.com/paparazzi/paparazzi/pull/1182) - boards: add support for CC3D - IMU: support for MPU9250 ins SPI mode [#1161] (https://github.com/paparazzi/paparazzi/pull/1161) - peripherals: ms5611 driver now also supports ms5607 (e.g. for Bebop) [#1147] (https://github.com/paparazzi/paparazzi/pull/1147) - mcu_periph: move mcu peripheral event functions to common mcu_event - mcu_periph: increase max size for spi buffer length (8bits to 16bits) - arch/stm32: use desig_get_unique_id from libopencm3 [#1018] (https://github.com/paparazzi/paparazzi/pull/1018) - peripherals: SD Card SPI interface [#1220] (https://github.com/paparazzi/paparazzi/pull/1220) Paparazzi 5.4.2_stable ====================== Maintenance release - GCS: fix undo for list of values [#1054] (https://github.com/paparazzi/paparazzi/issues/1054) - lisa_mx: fix secondary spektrum satellite UART AF - logalizer: fix csv export after allowing description tag in messages - nps: update nps_fdm_jsbsim to be compatible with latest jsbsim [#1118] (https://github.com/paparazzi/paparazzi/pull/1118) - rotorcraft: fix attitude flight plan primitive [#1103] (https://github.com/paparazzi/paparazzi/pull/1103) - flight plans: fix 'call' statement without loop - generators: only include raw makefile part from modules if target matches - GCS: GPS accuracy speech less verbose [#1046] (https://github.com/paparazzi/paparazzi/issues/1046) - GCS: call index of first/single link "single" [#1098] (https://github.com/paparazzi/paparazzi/issues/1098) Paparazzi 5.4.1_stable ====================== Maintenance release - plot: fix loading of logs with strings that are not representing a float - log: prevent display when no points [#897] (https://github.com/paparazzi/paparazzi/issues/897) - GCS: disable broken WP reordering in editor - GCS: fix last known value was not returned with correct scale for saving - paparazzi center: show build/run versions and update help - messages: fix hide/show of notebook with multi A/C - start.py: properly use Popen to start paparazzi subprocess - bebop: actuators left/right reversed and fix NPS config - ms5611 barometer peripheral: fix I2C transaction - sdlog: call pprzlog_init if needed (and avoid segfault) - datalink: fix extra_dl and pprzlog - current sensor subsystem shared and not only for fixedwing - arch/linux: GCC diagnostic pragma outside of i2c_submit function - arch/linux: use same float_abi for linking as for compiling - arch/stm32: fix spektrum binding on F4 [#780] (https://github.com/paparazzi/paparazzi/issues/780) Paparazzi 5.4.0_stable ====================== Stable version release. - messages: MOVE_WP and WP_MOVED_LLA with altitude in mm - ins: immediately effective ins_reset_local_origin - server: don't fail if settings_modules is missing - python: messagesapp: growable value column width - python: add python real time plotter to control panel - module: mavlink, parse PARAM_SET, send origin and waypoints - module: FLAPS, HATCH, BRAKE via RC in AUTO1 [#878] (https://github.com/paparazzi/paparazzi/pull/878) - fixedwing: use min/max_cruise_throttle variables instead of defines [#1057] (https://github.com/paparazzi/paparazzi/issues/1057) - GCS: turn off search in flight plan panel to fix hotkeys [#995] (https://github.com/paparazzi/paparazzi/issues/995) [#1061] (https://github.com/paparazzi/paparazzi/pull/1061) - GCS: fixes for flight plan editor and keeping map center on zoom [#927] (https://github.com/paparazzi/paparazzi/issues/927) [#1059] (https://github.com/paparazzi/paparazzi/pull/1059) - stm32/luftboot: update libopencm3 to get usb control call back fix [#1058] (https://github.com/paparazzi/paparazzi/pull/1058) Paparazzi 5.3.3_testing ======================= Fourth release candidate for v5.4 stable release. - tmtc: fix rx_lost_time in link - paparazzicenter: fix GLib-CRITICAL warning when running clean/build/upload - server: write paparzzi_version as comment at beginning of log file [#1049] (https://github.com/paparazzi/paparazzi/pull/1049) - replace BOOT message with AUTOPILOT_VERSION, show in GCS and add build version [#1050] (https://github.com/paparazzi/paparazzi/pull/1050) - GCS: fix green color after colormap changes on some new systems [#1051] (https://github.com/paparazzi/paparazzi/pull/1051) [#575] (https://github.com/paparazzi/paparazzi/issues/575) - settings: display ? for current value on undo [#1054] (https://github.com/paparazzi/paparazzi/issues/1054) - Add some more flexibility to conf and control_panel naming [#1055] (https://github.com/paparazzi/paparazzi/pull/1055) Paparazzi 5.3.2_testing ======================= Third release candidate for v5.4 stable release. - code style: fix in (nearly) all airborne code - support Piksi GPS modules [#1043] (https://github.com/paparazzi/paparazzi/pull/1043) [#957] (https://github.com/paparazzi/paparazzi/issues/957) - fixedwing: airspeed tuning [#877] (https://github.com/paparazzi/paparazzi/pull/877) - linux: handle SIGINT for console debug [#1008] (https://github.com/paparazzi/paparazzi/pull/1008) - rotorcraft: always allow to switch to MODE_MANUAL via RC [#1036] (https://github.com/paparazzi/paparazzi/pull/1036) - flight plan: use flight plan position in nps for most example files - airframes: OBC example airframes [#1044] (https://github.com/paparazzi/paparazzi/pull/1044) - transitioning: fix transition offset handling [#1045] (https://github.com/paparazzi/paparazzi/pull/1045) Paparazzi 5.3.1_testing ======================= Second release candidate for v5.4 stable release. - modules: nav_survey_poly_osam improvements [#938] (https://github.com/paparazzi/paparazzi/pull/938) - ARDrone2: mag freeze detection [#1025] (https://github.com/paparazzi/paparazzi/pull/1025) [#1026] (https://github.com/paparazzi/paparazzi/pull/1026) [#1030] (https://github.com/paparazzi/paparazzi/pull/1030) - ARDrone2: remove unneeded last_checksum_wrong [#1032] (https://github.com/paparazzi/paparazzi/pull/1032) - rotorcraft: fix USE_KILL_SWITCH_FOR_MOTOR_ARMING [#1038] (https://github.com/paparazzi/paparazzi/pull/1038) - server: log LINK_REPORT message [#1031] (https://github.com/paparazzi/paparazzi/issues/1031) - stm32: partial Lisa MX luftboot support [#1017] (https://github.com/paparazzi/paparazzi/pull/1017) Paparazzi 5.3.0_testing ======================= First release candidate for v5.4 stable release. General ------- - Flight plans: option to `call` functions once without checking return value [830] (https://github.com/paparazzi/paparazzi/pull/830) - Paparazzi Center settings improvements [#834] (https://github.com/paparazzi/paparazzi/pull/834) - replay: ignore non-telemetry messages to remove warnings [#894] (https://github.com/paparazzi/paparazzi/issues/894) - maps: put google tiles in var/maps/Google instead of var/maps [#902] (https://github.com/paparazzi/paparazzi/issues/902) - Paparazzi Center: improve warning coloring [#910] (https://github.com/paparazzi/paparazzi/issues/910) - add INFO_MSG with printing to GCS console [#929] (https://github.com/paparazzi/paparazzi/pull/929) - Remove array delimiters on Ivy messages [#942] (https://github.com/paparazzi/paparazzi/pull/942) - improve test framework [#933] (https://github.com/paparazzi/paparazzi/pull/933) [#945] (https://github.com/paparazzi/paparazzi/pull/945) - GCS: save size in layout [#968] (https://github.com/paparazzi/paparazzi/issues/968) - link/GCS: improve datalink/telemetry report and display link page in GCS for single link [#999] (https://github.com/paparazzi/paparazzi/pull/999) - build: default to parallel make for aircrafts [#1002] (https://github.com/paparazzi/paparazzi/pull/1002) - select_conf.py fixes and also selects control_panel.xml [#1001] (https://github.com/paparazzi/paparazzi/pull/1001) - DFU flashing: CRC support and longer timeout for Krooz [#997] (https://github.com/paparazzi/paparazzi/pull/997) [#691] (https://github.com/paparazzi/paparazzi/pull/691) - messages: possibility to add descriptions [#987] (https://github.com/paparazzi/paparazzi/pull/987) - messages: mission modules use LLA waypoints in 1e7deg instead of float [#986] (https://github.com/paparazzi/paparazzi/pull/986) - GCS: alert/console window: always insert messages at the end [#996] (https://github.com/paparazzi/paparazzi/issues/996) - improve dependency handling for modules [#1007] (https://github.com/paparazzi/paparazzi/pull/1007) - Settings: display unconfirmed settins with "?" as current value [#1013] (https://github.com/paparazzi/paparazzi/pull/1023) - messages/plotter: improve drag-and-drop of fields from messages to realtime plotter [#1020] (https://github.com/paparazzi/paparazzi/pull/1020) Simulation ---------- - OCaml sim: simulate sys_time [#962] (https://github.com/paparazzi/paparazzi/issues/962) - OCaml sim: use unconnected socket for flightgear viz [#915] (https://github.com/paparazzi/paparazzi/issues/915) - NPS: add commandline option to set time_factor - radio_conrol spektrum for sim target [#851] (https://github.com/paparazzi/paparazzi/pull/851) - OCaml sim: sliders in simulated RC always sensitive [#821] (https://github.com/paparazzi/paparazzi/issues/821) Airborne -------- - pass dt to ahrs/ins propagation [#818] (https://github.com/paparazzi/paparazzi/pull/818) - cleanup math lib and convert lots of macros to functions [#819] (https://github.com/paparazzi/paparazzi/pull/819) - radio_control spektrum also usable for intermcu [#847] (https://github.com/paparazzi/paparazzi/pull/847) - Replace telemetry macros with functions [#931] (https://github.com/paparazzi/paparazzi/pull/931) [#1027] (https://github.com/paparazzi/paparazzi/pull/1027) - arch: rename arch/omap to arch/linux [#982] (https://github.com/paparazzi/paparazzi/pull/982) - radio_control: cleanup channel defines and possibility to send less than available via intermcu [#975] (https://github.com/paparazzi/paparazzi/pull/975) - state interface: change computation order in stateCalcPositionLla_i [#1013] (https://github.com/paparazzi/paparazzi/pull/1013) - ARDrone2: Handle memory full FTP upload error [#967] (https://github.com/paparazzi/paparazzi/issues/967) - rotorcraft: force MODE_STARTUP instead of KILL until ahrs is aligned [#983] (https://github.com/paparazzi/paparazzi/pull/983) - rotorcraft: fix NavCircleCount() - rotorcraft: datalink: check ac_id of RC_4CH message - rotorcraft: allow to turn off motors in failsafe mode [#989] (https://github.com/paparazzi/paparazzi/pull/989) Modules ------- - Convert air_data subsystem to module with QNH and true airspeed support [#853] (https://github.com/paparazzi/paparazzi/pull/853) - add airspeed_ms45xx_i2c module [#852] (https://github.com/paparazzi/paparazzi/pull/852) - airspeed_ets, retry after failed transaction - add temperature adc module [#857] (https://github.com/paparazzi/paparazzi/pull/857) - clean up digital_cam, usable for rotorcrafts, show real photo coordinates in GCS [#936] (https://github.com/paparazzi/paparazzi/pull/936) - modules: add basic mavlink module [#1028] (https://github.com/paparazzi/paparazzi/pull/1028) - modules: improved video/images sending for ARDrone2 [#1021]: (https://github.com/paparazzi/paparazzi/pull/1021) Drivers/HW support ------------------ - stm32: usb_serial (CDC) impelmentation for transparent_usb telemetry [#998] (https://github.com/paparazzi/paparazzi/pull/998) - stm32: add usb_tunnel [#1014] (https://github.com/paparazzi/paparazzi/pull/1014) - Add Furuno NMEA based GPS [#959] (https://github.com/paparazzi/paparazzi/pull/959) - Driver for MPU9250 [#953] (https://github.com/paparazzi/paparazzi/pull/953) - Driver for AKM8963 magnetometer [#947] (https://github.com/paparazzi/paparazzi/pull/947) - linux: add basic I2C and SPI drivers [#961] (https://github.com/paparazzi/paparazzi/pull/961) [#979] (https://github.com/paparazzi/paparazzi/pull/979) - actuators: basic esc32 motor controller implementation via CAN for STM32F1 [#1004] (https://github.com/paparazzi/paparazzi/pull/1004) - basic support for new Parrot Bebop [#1003] (https://github.com/paparazzi/paparazzi/pull/1003) Paparazzi 5.2.1_stable ====================== Maintenance release - build system: remove 'load' target as it is a builtin directive in Make 4.0 - fix FlightGear visualization on 32bit systems - flight plans: set primitive should not delay next stage [#824] (https://github.com/paparazzi/paparazzi/pull/824) - flight plans: fix return primitive - generators: gen_airframe: don't force float if unit = code_unit - sys_time: up to 16 sys_time timers by default (was 8) - OCaml: fix Pprz.sprint_value for uint32, e.g. for NatNet [#831] (https://github.com/paparazzi/paparazzi/issues/831) - Rotorcraft: auto-enable UNLOCKED_HOME_MODE if HOME mode is used on RC [#823] (https://github.com/paparazzi/paparazzi/issues/823) - Rotorcraft: only go to HOME mode if in NAV [#850] (https://github.com/paparazzi/paparazzi/issues/850) - Fixedwing: If USE_BARO_BOARD: separate baro timer Before baro_periodic was running at PERIODIC_FREQUENCY in sensors_task, which is too fast for ms5611 if periodic freq is > 100Hz. - INS alt_float: if USE_BARO_BOARD, dt is 1/BARO_PERIODIC_FREQUENCY [#848] (https://github.com/paparazzi/paparazzi/pull/848) - STM32: backport fix for using multiple ADs [#822] (https://github.com/paparazzi/paparazzi/pull/822) - LPC21: don't override T0CCR values when setting ppm and trig_ext - IMU driver for Lisa/M/MX 2.1 [#817] (https://github.com/paparazzi/paparazzi/pull/817) - support for HBmini board [#864] (https://github.com/paparazzi/paparazzi/pull/864) Paparazzi 5.2.0_stable ======================= Stable version release. General ------- - ocaml/link: fix uint32 parsing [#809] (https://github.com/paparazzi/paparazzi/pull/809) - modules: use VPATH to make it easier to load external modules [#760] (https://github.com/paparazzi/paparazzi/pull/760) - ground_segment: try to update AGL even if GPS is lost [#742] (https://github.com/paparazzi/paparazzi/issues/742) - ground_segment: different icons for the different applications of paparazzi [#787] (https://github.com/paparazzi/paparazzi/pull/787) - generators: fix generated longitude in 1e7deg on 32bit systems [#808] (https://github.com/paparazzi/paparazzi/issues/808) - lat/lon int in 1e7deg instead of 1e7rad [#810] (https://github.com/paparazzi/paparazzi/pull/810) - GCS: fix inaccurate waypoint updates [#762] (https://github.com/paparazzi/paparazzi/issues/762) - GCS: add exponentiation operator to papgets - logalizer: export lat/lon with 9 decimal places - GCS: display AP mode forward correctly [#748] (https://github.com/paparazzi/paparazzi/pull/748) - GCS: also center aircraft on uppercase C and fix listed keys in help [#803] (https://github.com/paparazzi/paparazzi/issues/803) - settings: add spin button widget for numeric input instead of sliders [#795] (https://github.com/paparazzi/paparazzi/issues/795) - tools: flash via bmp: reset and detach from target after uploading [#746] (https://github.com/paparazzi/paparazzi/issues/746) - tools: DFU flashing: allow 1 BIT SQUARED vendor [#778] (https://github.com/paparazzi/paparazzi/pull/778) - tools: add tcp_aircraft_server [#750] (https://github.com/paparazzi/paparazzi/pull/750) - tools: add tool to syncronize video on replay [#770] (https://github.com/paparazzi/paparazzi/pull/770) [#776] (https://github.com/paparazzi/paparazzi/pull/776) [#789] (https://github.com/paparazzi/paparazzi/pull/789) - messages: rename class to msg_class [#812] (https://github.com/paparazzi/paparazzi/pull/812) - messages: add GEO_MAG message to send magnetic field [#735] (https://github.com/paparazzi/paparazzi/pull/735) - messages: add speed setpoint to GUIDANCE_H_REF_INT message [#763] (https://github.com/paparazzi/paparazzi/issues/763) - NPS: block and setting messages only parsed for correct AC_ID [#777] (https://github.com/paparazzi/paparazzi/pull/777) - NPS: fix warnings when compiling with clang [#790] (https://github.com/paparazzi/paparazzi/pull/790) - gaia: command line options for environment simulator [#799] (https://github.com/paparazzi/paparazzi/issues/799) - build: only set PAPARAZZI_SRC if not already externally set [#800] (https://github.com/paparazzi/paparazzi/issues/800) Airborne -------- - fixedwing: correct altitude setpoint during NavGlide [#785] (https://github.com/paparazzi/paparazzi/pull/785) - flight plans: don't set nav_pitch to 0 at each stage init [#727] (https://github.com/paparazzi/paparazzi/pull/727) - modules: gps_ubx_ucenter: fix version check for Ublox 7 - modules: add HackHD digital camera control module - modules: add CSV file logger for ARDrone [#788] (https://github.com/paparazzi/paparazzi/pull/788) - modules: geo_mag: fixedwing compatibility [#806] (https://github.com/paparazzi/paparazzi/issues/806) - ardrone2: mag freeze fix [#767] (https://github.com/paparazzi/paparazzi/pull/767) - boards: add support for navstik [#744] (https://github.com/paparazzi/paparazzi/pull/744) - boards: fix PWM on lisa_l - boards: lisa_m_2.0: baro defaults to BARO_MS5611_SPI - peripherals: ms5611: check temp an pressure range [#758] (https://github.com/paparazzi/paparazzi/issues/758) - imu: aspirin_2_spi: wait 1.5s before configuring mag [#779] (https://github.com/paparazzi/paparazzi/pull/779) - imu: body_to_imu adjustable during runtime via settings [#783] (https://github.com/paparazzi/paparazzi/pull/783) - ahrs: int_cmpl_quat: fix rate integration range/resolution [#782] (https://github.com/paparazzi/paparazzi/pull/782) - ins: properly define INS_VFF_R_GPS [#741] (https://github.com/paparazzi/paparazzi/issues/741) - ins: allow define of VFF_R_SONAR_OF_M [#764] (https://github.com/paparazzi/paparazzi/issues/764) - electrical: min bat level check [#745] (https://github.com/paparazzi/paparazzi/issues/745) - electrical: fix for negative currents [#753] (https://github.com/paparazzi/paparazzi/issues/753) - electrical: 32bit for bat low and critical counters for longer delays [#805] (https://github.com/paparazzi/paparazzi/issues/805) - messages: dist_home and dist_wp in meters for fixedwings and rotorcrafts [#784] (https://github.com/paparazzi/paparazzi/pull/784) - superbitrf: save bind settings to flash (if USE_PERSISTENT_SETTINGS) [#792] (https://github.com/paparazzi/paparazzi/issues/792) Rotorcraft Firmware ------------------- - RC input: zero yaw command if throttle is zero [#737] (https://github.com/paparazzi/paparazzi/pull/737) - prevent motor arming in kill mode [#740] (https://github.com/paparazzi/paparazzi/pull/740) - change rotorcraft nav API to use points rather than wp id [#749] (https://github.com/paparazzi/paparazzi/pull/749) - use roll/pitch RC deadbands in attitude mode [#773] (https://github.com/paparazzi/paparazzi/pull/773) - route precision fix [#775] (https://github.com/paparazzi/paparazzi/pull/775) - guidance_v: limit z_ref in update_ref_from_zd_sp [#754] (https://github.com/paparazzi/paparazzi/pull/754) - mission module for rotorcrafts [#759] (https://github.com/paparazzi/paparazzi/pull/759) - guidance_v: only limit throttle if RC ok [#766] (https://github.com/paparazzi/paparazzi/pull/766) - navigation: fix waypoint initialization in ENU [#791] (https://github.com/paparazzi/paparazzi/pull/791) STM32 architecture ------------------ - fix I2C bitrate on F4 [#729] (https://github.com/paparazzi/paparazzi/pull/729) - fix sys_time_usleep [#739] (https://github.com/paparazzi/paparazzi/pull/739) - fix spektrum on F4 [#732] (https://github.com/paparazzi/paparazzi/pull/732) - timer frequency cleanup [#734] (https://github.com/paparazzi/paparazzi/pull/734) - split spektrum uart rx and config pin for Apogee [#733] (https://github.com/paparazzi/paparazzi/pull/733) - add suport for pwm input - fix reset for I2C3 [#751] (https://github.com/paparazzi/paparazzi/pull/751) - simplify actuators_pwm [#757] (https://github.com/paparazzi/paparazzi/pull/757) - boards: add files for Lisa/M and Lisa/MX v2.1 [#813] ((https://github.com/paparazzi/paparazzi/pull/813) - spektrum: configure the bind pin to be pullup/pulldown [#814] (https://github.com/paparazzi/paparazzi/pull/814) Paparazzi 5.1.1_testing ======================= Second release candidate for v5.2 stable release. General ------- - GCS: higher default maps zoom level [#725] (https://github.com/paparazzi/paparazzi/pull/725) - Allow settings/modules/flightplans outside the conf dir [#723] (https://github.com/paparazzi/paparazzi/pull/723) - optitrack: Give feedback about following drones and fix gps [#718] (https://github.com/paparazzi/paparazzi/pull/718) - dfu-util: only attempt verify for version >= 0.7 [#697] (https://github.com/paparazzi/paparazzi/issues/697) - dfu-util: fix DFU_SIZE on OSX - add prototype for python based airframe file editor Airborne -------- - Modules: rewrite humid_sht using gpio interface (supporting STM as well as LPC now) [#721] (https://github.com/paparazzi/paparazzi/pull/721) - INS int: removed INS_SONAR_VARIANCE_THRESHOLD, INS_SONAR_MIN_RANGE defaults to 1mm - fix compilation of SuperbitRF telemetry subsystem - possibility to poweron gps and imu via gpio at init [#706] (https://github.com/paparazzi/paparazzi/pull/706) - bmp085 peripheral: Fix calibration reading with errors Simulation ---------- - NPS: simulate sonar sensor [#720] (https://github.com/paparazzi/paparazzi/pull/720) - JSBSim, NPS: fix roll input sign - NPS: fixedwing simulation improvements - If NPS_JSBSIM_LAUNCHSPEED is defined, set it as initial launchspeed. - Only launch when launch button is pressed in GCS instead of immediately at takeoff block. Rotorcraft firmware ------------------- - add some functions to set heading via flight plan [#724] (https://github.com/paparazzi/paparazzi/pull/724) - fix reference in hover with USE_SPEED_REF, set DEFAULT_CIRCLE_RADIUS to 5m [#716] (https://github.com/paparazzi/paparazzi/issues/716) [#717] (https://github.com/paparazzi/paparazzi/pull/717) - implement approaching_time for "go" flight plan primitve [#715] (https://github.com/paparazzi/paparazzi/pull/715) Fixedwing firmware ------------------ - stabilization adaptive: loiter correction and reference generator update [#711] (https://github.com/paparazzi/paparazzi/pull/711) - stabilization new/adaptive: USE_GYRO_PITCH_RATE defaults to TRUE - dual mcu: Workaround RADIO_CONTROL_NB_CHANNELS differs in driver and radio.h [#700] (https://github.com/paparazzi/paparazzi/pull/700) Paparazzi 5.1.0_testing ======================= First release candidate for next stable release. General ------- - lots of cleanup - GCS: higher max zoom level [#632] (https://github.com/paparazzi/paparazzi/issues/632) - GCS: different aircraft icons (added flying wing, quadrotor) - GCS: proper GPSd home icon resizing [#601] (https://github.com/paparazzi/paparazzi/issues/601) - GUI for selecting the desired active list of airframes (select_conf.py) [#536] (https://github.com/paparazzi/paparazzi/issues/536) - paparazzi center: flash mode selection via drop down menu [#597] (https://github.com/paparazzi/paparazzi/pull/597) - add support for new telemetry types [#589] (https://github.com/paparazzi/paparazzi/pull/589) - build aircraft firmware in var/aircrafts/'ac_name' [#601] (https://github.com/paparazzi/paparazzi/issues/601) - parallel build of firmwares with J=AUTO [#683] (https://github.com/paparazzi/paparazzi/pull/683) - add simple verify to flashing via dfu-util [#673] (https://github.com/paparazzi/paparazzi/pull/673) - app_server: connection between the ground station and a GCS Android application (https://github.com/paparazzi/PPRZonDroid) - GCS: adapt home (from GPSd) icon to zoom level [#679] (https://github.com/paparazzi/paparazzi/issues/679) Simulation ---------- - simulate datalink loss [#631] (https://github.com/paparazzi/paparazzi/issues/631) - FlightGear viz: daytime everywhere [#555] (https://github.com/paparazzi/paparazzi/issues/555) Hardware support ---------------- - remove sys_plugs for STM32, finally dropping old toolchain support [#688] (https://github.com/paparazzi/paparazzi/pull/688) - Support for all 3 ADCs of F4 [#551] (https://github.com/paparazzi/paparazzi/issues/551) - new peripheral drivers: - ST LIS302DL accelerometer (SPI) - ST L3GD20 gyro (SPI) - ST LSM303DLHC 3D accelerometer and magnetometer (I2C) - converted barometers MS5611, BMP085 to generic peripherals [#515] (https://github.com/paparazzi/paparazzi/pull/515) - I2C watchdog for STM32 [#662] (https://github.com/paparazzi/paparazzi/pull/662) - Dual PWM servo driver [#678] (https://github.com/paparazzi/paparazzi/pull/678) - SBus radio control driver (single and dual receivers) [#485] (https://github.com/paparazzi/paparazzi/pull/485) [#674] (https://github.com/paparazzi/paparazzi/pull/674) [#693] (https://github.com/paparazzi/paparazzi/pull/693) Airborne -------- - API function to periodically send telemetry messages: register_periodic_telemetry [#472] (https://github.com/paparazzi/paparazzi/pull/472) - generic gpio interface [#498] (https://github.com/paparazzi/paparazzi/issues/498) [#651] (https://github.com/paparazzi/paparazzi/issues/651) - gps_ubx_ucenter module improvements [#646] (https://github.com/paparazzi/paparazzi/issues/646) [#653] (https://github.com/paparazzi/paparazzi/issues/653) - HOTT telemetry module added [#591] (https://github.com/paparazzi/paparazzi/pull/591) - GPS subsystem to stream external position data to the vehicle over UDP [#630] (https://github.com/paparazzi/paparazzi/pull/630) - INS reset/realign API updates [#644] (https://github.com/paparazzi/paparazzi/pull/644) - INS alt_float: remove ALT_KALMAN_ENABLED [#594] (https://github.com/paparazzi/paparazzi/issues/594) - IIR filter for horizontal position Kalman Filter [#677] (https://github.com/paparazzi/paparazzi/pull/677) - barometer interface via ABI [#525] (https://github.com/paparazzi/paparazzi/pull/525) - baros always output pressure in Pascal - standard atmosphere model is used to convert pressure to altitude - INS_BARO_SENS is hence not needed anymore - sonar interface using ABI [#654] (https://github.com/paparazzi/paparazzi/pull/654) - AHRS int_cmpl_quat frequency scaling [#371] (https://github.com/paparazzi/paparazzi/pull/371) Rotorcraft firmware ------------------- - AR Drone 2 updates [#626] (https://github.com/paparazzi/paparazzi/issues/626) [#598] (https://github.com/paparazzi/paparazzi/pull/598) - guidance improvements [#539] (https://github.com/paparazzi/paparazzi/pull/539) [#546] (https://github.com/paparazzi/paparazzi/pull/546) - horizontal guidance: dynamically adjustable max_speed [#664] (https://github.com/paparazzi/paparazzi/pull/664) - adaptive thrust estimation limits [#495] (https://github.com/paparazzi/paparazzi/issues/495) - improve in_flight detection heuristic [#469] (https://github.com/paparazzi/paparazzi/pull/469) - stabilization quaternion: fix scale of angle in 2nd order model [#664] (https://github.com/paparazzi/paparazzi/pull/663) - HITL using reference position to fake GPS [#640] (https://github.com/paparazzi/paparazzi/pull/640) - add a HOME mode [#562] (https://github.com/paparazzi/paparazzi/pull/562) - nav: split waypoint proximity check from time spend at waypoint [#690] (https://github.com/paparazzi/paparazzi/pull/690) Fixedwing firmware ------------------ - alt_float: remove ALT_KALMAN_ENABLED [#594] (https://github.com/paparazzi/paparazzi/issues/594) - extra navigation routines as modules [#512] (https://github.com/paparazzi/paparazzi/pull/512) - NavSetAltitudeReferenceHere added Paparazzi 5.0.5_stable ====================== Maintenance release - fix field order in HFF_DBG message - fix altitude in some extra nav routines - fix create_module tool - fix RCLost macro - add GetAltRef() for flight plan compatibility with v5.2 Paparazzi 5.0.4_stable ====================== Maintenance release - fix perl script compile_all_test_targets - add pcre lib to jsbsim, cleanup shell commands - fix InsideX for sectors (GetPosX and GetPosY in nav.h (FW) are in local coordinates) [#602] (https://github.com/paparazzi/paparazzi/issues/602) - stm32: enable correct error interrupts for i2c2 and i2c3 Paparazzi 5.0.3_stable ====================== Maintenance release - fix Paparazzi Center on Mac OS (detection of child processes exitting) [#290] (https://github.com/paparazzi/paparazzi/issues/290) - state interface: fix stateCalcHorizontalSpeedNorm_i - fix/improve dependency generation for building firmware - abort with meaningful error if ARM toolchain is not found Paparazzi 5.0.2_stable ====================== Maintenance release - add launch and noground options to pprzsim-launch - fixedwing: fix initialzation of trim commands, including yaw - fixedwing: fixes to use ins_alt_dot from ins_alt_float (with USE_BAROMETER) [#511] (https://github.com/paparazzi/paparazzi/pull/511) - state interface: fix local/global coordinate validity checks - state interface: fix local ned/enu to ecef conversion - lib/ocaml: update leap_seconds to 16 (last one was on June 30, 2012) Paparazzi 5.0.1_stable ====================== Maintenance release General ------- - joystick hat support for input2ivy [#460] (https://github.com/paparazzi/paparazzi/pull/460) - high speed logger: fix mag channels - math: fix ecef_of_[ned|enu]_i - fix google maps version download parsing Rotorcraft/Fixedwing firmwares ------------------------------ - rotorcraft: add MODE_STARTUP [#467] (https://github.com/paparazzi/paparazzi/pull/467) - ARDrone2: GPS satellite informaton [#474] (https://github.com/paparazzi/paparazzi/pull/474) - fixedwing: init state interface before sensors and ins - fixedwing: don't overwrite yaw command with trim Simulator --------- - NPS: explicitly add pcre lib - NPS: make radio_control tpye datalink work - don't try to use ADC_CHANNEL_CURRENT in SITL Drivers and architecture specific --------------------------------- - fixes for imu_drotek_10dof_v2 - init spi_slave_hs for imu_chimu - mpu60x0_i2c: only copy ext data if i2c_bypass is false - aspirin_v2.2: unselect baro at startup - aspirin_2_spi: default AHRS_PROPAGATE_FREQUENCY is 512 - STM32F4: fix ppm input timer frequency for TIM2 - add i2c3 initialization Paparazzi 5.0.0_stable ====================== Stable version release General ------- - STM libs completely replaced by libopencm3 - [gcc-arm-embedded] (https://launchpad.net/gcc-arm-embedded) is the new recommended toolchain - Use findlib (ocamlfind) for ocaml packages. Faster build. [#274] (https://github.com/paparazzi/paparazzi/pull/274) - Building/Running the groundsegment on an ARM (e.g. RaspberryPi). - Input2ivy uses SDL for joysticks (cross-platform, works on OSX as well now) [#220] (https://github.com/paparazzi/paparazzi/pull/220) - Option to change text papget color using a combobox [#194] (https://github.com/paparazzi/paparazzi/pull/194) - Redundant communications [#429] (https://github.com/paparazzi/paparazzi/pull/429) - Log also contains includes like procedures now, so replay if these missions is possible. [#227] (https://github.com/paparazzi/paparazzi/issues/227) - Paparazzi Center - New simulation launcher with dialog and detection of available ones. [#354] (https://github.com/paparazzi/paparazzi/pull/354) - Checkbox to print extra configuration information during build. - GCS: - Fix panning with mouse if there are no background tiles. [#9] (https://github.com/paparazzi/paparazzi/issues/9) - Higher zoom level for maps. [#277] (https://github.com/paparazzi/paparazzi/issues/277) Hardware support ---------------- - initial support for STM32F4 - Apogee autopilot - KroozSD autopilot - Parrot AR Drone 2 support: raw and sdk versions - CH Robotics UM6 IMU/AHRS - GPS/INS XSens Mti-G support - GPS Sirf support - GPS Skytraq now usable for fixedwings as well [#167] (https://github.com/paparazzi/paparazzi/issues/167) - Mikrokopter V2 BLDC [#377] (https://github.com/paparazzi/paparazzi/pull/377) - PX4Flow sensor [#379] (https://github.com/paparazzi/paparazzi/pull/379) - Dropped AVR support Airborne -------- - State interface with automatic coordinate transformations [#237] (https://github.com/paparazzi/paparazzi/pull/237) - New AHRS filter: Multiplicative quaternion linearized Kalman Filter - New SPI driver with transaction queues. - Fix transactions with zero length input. [#348] (https://github.com/paparazzi/paparazzi/issues/348) - Peripherals: Cleanup and refactoring. - MPU60x0 peripheral supporting SPI and I2C with slave. - UDP datalink. - Magnetometer current offset calibration. [#346] (https://github.com/paparazzi/paparazzi/pull/346) - Gain scheduling module. [#335] (https://github.com/paparazzi/paparazzi/pull/335) Rotorcraft firmware specific ---------------------------- - Quadshot transitioning vehicle support. - Care Free Mode Paparazzi 4.2.2_stable ====================== Maintenance release - DFU upload matches Lia board by default as well - partial compatibilty with Aspirin2.2 [#369] (https://github.com/paparazzi/paparazzi/pull/369) - fix failsafe vertical setpoint in rotorcraft firmware - fix plotprofile building on Ubuntu 13.04 - circle-count without rewinding when flying in opposite direction [#441] (https://github.com/paparazzi/paparazzi/pull/441) - add yaw trim [#444] (https://github.com/paparazzi/paparazzi/pull/444) - add XSens Mti-G 700 support [#443] (https://github.com/paparazzi/paparazzi/pull/443) Paparazzi 4.2.1_stable ====================== Maintenance release - fix elf PT_LOAD type in lpc21iap LPC USB download - fix electrical.current estimate in sim - fix LPC+xbee_api in rotorcraft - fix conversion of vsupply to decivolts if offset is used - more robust dfu flash script, only upload to Lisa/M Paparazzi 4.2.0_stable ====================== Stable version release Since last stable v4.0: - Total energy control - Improve Google map tiles download - Several updates on the Digital Cam and photogrammetry modules - WMM210 model - Rate limiter in airframes control laws - Uart flow control (stm32) - Bug fix for INS and AHRS filters - AP/FBW separation using spi or uart - Sensors fix and addition (GPS, current, baro) Paparazzi 4.1.1_testing ======================= Second release candidate for next stable release. - Run AP and FBW on separate boards [#297] (https://github.com/paparazzi/paparazzi/pull/297) - Separate Board Files for yapa_v2.0 [#303] (https://github.com/paparazzi/paparazzi/pull/303) - Add UART hardware flow control (for STM32 only) [#289] (https://github.com/paparazzi/paparazzi/pull/289) - Add ezosd current sensor module [#292] (https://github.com/paparazzi/paparazzi/pull/292) - Paparazzi Center: fix coloration by passing input buffer line by line, set language to english - Rate limiter bugfix - DC_SHOT message photo numbers shown in GCS - home mode height can be set different from security height - Ahrs float_dcm uses magnetic heading while not inflight for better initial guess [#299] (https://github.com/paparazzi/paparazzi/pull/299) - Outback Challenge "Safety" Rules 1 and 2 - Added WMM2010 Geo model used in ahrs int_cmpl_quat for rotorcrafts [#288] (https://github.com/paparazzi/paparazzi/pull/288) - Fix missing gain definitions from airframe file in total energy control - Added stm32loader to sw/tools - Change vsupply to be a uint16 to enable reporting of voltages higher than 25.5V [#294] (https://github.com/paparazzi/paparazzi/issues/294) - Digital cam module: release camera button on init - Fix second order term in propagation of x-position in HFF Paparazzi 4.1.0_testing ======================= First release candidate for next stable release. - Total energy control [#251] (https://github.com/paparazzi/paparazzi/pull/251) - PPM input on UART1 RX for Lisa/M autopilots - Rate Limiter for Flaps, Gears and servo hatches [#252] (https://github.com/paparazzi/paparazzi/pull/252) - GPS acceleration compensation in ahrs_float_dcm [#255] (https://github.com/paparazzi/paparazzi/pull/255) - Improved gravity heuristic for int_cmpl_quat - Some updates on digital_cam and photogrammetry modules [#250] (https://github.com/paparazzi/paparazzi/pull/250) - Replace wget by OCaml Http_client from netclient lib to download files [#276] (https://github.com/paparazzi/paparazzi/pull/276) Paparazzi 4.0.4 =============== Maintenance release - fix google map version parsing for new maps site using https - minor fix for hff - use GPS_TRIGGERED_FUNCTION for ins_chimu_spi Paparazzi 4.0.3 =============== Maintenance release - fix google map version download - fix BMP scripts for stm32 - fix lisa/m 2.0 default voltage - fix gpsd2ivy for libgps3.5 - improve some makefiles Paparazzi 4.0.2 =============== Maintenance release - fix some illegal xml chars in xml description for xtend_rssi and pwm_meas modules - fix ins_arduimu_basic by adding an empty ahrs_update_gps function - fix some ivy includes on OSX for weird installation cases - fix ACTUATORS_PWM_NB for fixedwings with USE_SERVOS_7AND8 - updated kestrel weather meter agent - fix uart_tunnel if leds are not available on some boards - fix GPS_LLA message - fix make failure when trying to get google maps version, but no internet connection [#187] (https://github.com/paparazzi/paparazzi/issues/187) Paparazzi 4.0.1 =============== Maintenance release - Serious fix for settings: - Handler was not called if module was not specfied as well. Now an error is generated with info on which file to fix. - Settings for adaptive fw stabilization fixed. - Fixes for photogrammetry module. - Fixes for digital_cam modules. - Tool added: mergelogs Paparazzi 4.0 ============= Changes since old_master tag General ------- - Settings for the telemetry modes are automatically generated from the XML file [#118] (https://github.com/paparazzi/paparazzi/pull/118) - Documentation node for modules [#182] (https://github.com/paparazzi/paparazzi/pull/182) - Automatic conversion of units in airframe file, settings and messages. See http://paparazzi.enac.fr/wiki/Units - Fix rc_settings: this enables you to change some settings in flight directly from the RC, is useful if you are alone or don't have a GCS. - Prefer compiler found in PATH over /opt/paparazzi/arm-multilib [#231] (https://github.com/paparazzi/paparazzi/issues/231) - Usability improvements for calibration scripts and added 3D view of magnetometer data with fitted ellipsoid New hardware support -------------------- - Support for new autopilot boards - [Umarim] (http://paparazzi.enac.fr/wiki/Umarim_v10) - [Umarim Lite] (http://paparazzi.enac.fr/wiki/Umarim_Lite_v2) - [NavGo] (http://paparazzi.enac.fr/wiki/NavGo_v3) - [Lisa/M 2.0] (http://paparazzi.enac.fr/wiki/Lisa/M_v20) - IMU Aspirin 2.1 support - BlackMagicProbe JTAG support Airborne -------- - All control gains are now positive [#127] (https://github.com/paparazzi/paparazzi/pull/127) - RC input follows sign conventions [#124] (https://github.com/paparazzi/paparazzi/issues/124) - A modification of the transport layer (pprz and xbee) in order to allow to select the device at the message level. - New modules: - xtend_rssi [#88] (https://github.com/paparazzi/paparazzi/pull/88) - open_log [#82] (https://github.com/paparazzi/paparazzi/pull/82) - Subsystem for new ahrs estimation algorithms: float_cmpl_rmat - Improvements for AHRS int_cmpl_quat and float_cmpl_rmat - Correction of centrifugal acceleration - Proper handling of BODY_TO_IMU rotations - All status LEDs configurable (with sensible defaults for the boards): SYS_TIME_LED, AHRS_ALIGNER_LED, BARO_LED, GPS_LED, RADIO_CONTROL_LED - Possibility to use two 2-way switches for the mode instead of one 3-way switch - GPS NMEA parser usable for basic position and fix [#120] (https://github.com/paparazzi/paparazzi/issues/120) Rotorcraft firmware specific ---------------------------- - Stabilization/supervision commands with standard PPRZ range [#169] (https://github.com/paparazzi/paparazzi/pull/169) - Additional motor arming options [#174] (https://github.com/paparazzi/paparazzi/pull/174) - Replaced INV_M with NOMINAL_HOVER_THROTTLE (in %) To use a fixed value instead of the adaptive vertical filter [#177] (https://github.com/paparazzi/paparazzi/pull/177) - Some fixes when changing vertical guidance modes - Same behaviour (gains) for AP_MODE_HOVER and NAV when holding position [#82] (https://github.com/paparazzi/paparazzi/pull/82) Fixedwing firmware specific --------------------------- - Using a gyro (with IR sensors) is done via imu subsystem now as well Simulator --------- - JSBSim interface updated for new FGAccelerations class - FlightGear interface defaults to version 2.6, define FG_2_4 for 2.4 - NPS simulator [#205] (https://github.com/paparazzi/paparazzi/pull/205) - has it's own nps target (instead of sim) - fdm type renamed from nps to jsbsim - waypoint altitude fixed - Improved ground interaction for JSBSim, can now initialize on ground [#222] (https://github.com/paparazzi/paparazzi/pull/222) - Radio control via joystick now uses SDL (so works on OSX as well) [#232] (https://github.com/paparazzi/paparazzi/pull/232) STM32 architecture ------------------ - Luftboot USB bootloader - Updated ADC defines for lisa/m You should now be able to use ADC_1, ADC_2, ADC_3 for the ADCs on the ANALOG1 [#159] (https://github.com/paparazzi/paparazzi/issues/159) - Enable second spektrum receiver via `````` - Enable new I2C driver via ``````