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paparazzi/CHANGELOG.md
Gautier Hattenberger 232f532dc3 stable release v6.4
2024-05-21 15:45:39 +02:00

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Paparazzi v6.4.0_stable

This version is a small addition to the v6.3 before switching to a v7 series that will integrate more in-depth changes.

Full Changelog: https://github.com/paparazzi/paparazzi/compare/v6.3.0_stable...v6.4.0_stable

Paparazzi v6.3.0_stable

Stable version release v6.3. The main changes are the improvement of the modules dependency mananagement, an in-depth rewrite of the navigation/guidance layer for rotorcraft allowing a better integration of hybrid airframes, the support for STM32H7 and some new drivers, the rework of hardware in the loop (HITL) simulation and the replacement of legacy ocaml sim by a NPS-based version.

  • documentation (#2981) (#2980) (#2979) (#2978) (#2973) (#2972)
  • python plotter (#2997)
  • new navigation for rotorcraft (#2964) (#3004)(#3006) (#3108)
  • new boards with STM32H7 (#3001) (#3017) (#3199)
  • improve modules dependency algorithm (#3005) (#3009)
  • new navigation and sensors modules (#3010) (#3021) (#3039) (#3067) (#3074) (#3088) (#3077)
  • PyBullet backend for NPS (#3024)
  • Mavlink update to v2
  • Improvements to INDI stabilization and guidance

And also many other improvements and corrections...

Paparazzi v6.2.0_stable

Stable version release v6.2. The biggest change is the reorganization of the airborne code for AP and FBW. FBW is now merged with AP in normal operation (so single thread) and the main_ap code is common for all firmwares.

General

  • Improve documentation for sphinx
  • fix Ivy for mutex (#2835)
  • support for rover with steering wheel (#2845)
  • use new PprzGCS as default
  • use Python PPRZ center as default
  • cleaning outdated confs (#2881)
  • update docker, mavlink, libopencm3, hacl-c, bmp_swd scripts
  • display object from natnet tool (#2958)

Airborne

  • merge AP/FBW in normal operation (#2828)
  • improve EKF2 support (#2833) (#2835) (#2850) (#2829)
  • small bug fixes
  • support for H7 with ChibiOS (#2859)
  • usb serial for ChibiOS (#2878)
  • multi IMU support (#2890)
  • add new modules: tag_tracking (#2931), QMC5883L mag driver
  • fix PVT message support for UBlox (#2939)

Paparazzi v6.1.0_stable

Stable version release v6.1. This version is an intermediate step towards deaper changes planned for the series 6.

Since the previous RC (6.0.0_testing), new additions are

  • collection of small fixes: (#2809) (#2812) (#2811)
  • adaptive navigation patterns (#2813)
  • fix Gazebo coordinate transform (#2808)
  • documentation (#2815) (#2816)
  • improve system identification tools (#2810)

Paparazzi v6.0.0_testing

First release candidate for v6.1_stable

Many deep changes have already been done, including:

  • a complete dependency system for the modules
  • a reorganization of the airborne code
  • move all subsystems code to modules
  • the drop of lpc21 arch

General

  • drop support of LPC21 boards and old stuff (#2695) (#2696) (#2697)
  • airborne code reorganization (#2721) (#2793) (#2795)
  • move all code in subsystems folder to modules folder (#2797)
  • remove static sectors support (#2701)
  • conf cleaning (#2712) (#2773)
  • Use correct address for google tiles. (#2727)
  • Pprzlink update
  • Pyhton scripts converted to Python3 (as much as possible)
  • indicate voltage/cell if number of cells is specified (#2732)
  • Fix flight plans (#2740)
  • Fix replay (#2754) (#2767)
  • Better link status (#2777)
  • Add new PPRZ GCS (from external repo https://github.com/paparazzi/PprzGCS) (#2780)
  • Server json stream for external plotter like PlotJuggler (#2792)

Airborne

  • Add UAVCAN actuators for chibios (#2511) (#2698) (#2699)
  • Small bug fix (#2702) (#2704) (#2790) (#2802) (#2805)
  • Add GPS loss bypass with datalink timeout (#2709)
  • Feature accurate cpu load (#2716) (#2739)
  • Filter rates indi, hybrid guidance (#2718) (#2723) (#2724) (#2731)
  • Add a follow me module (#2509)
  • Fix airspeed ets to work with air_data module (#2733)
  • support for RM3100 magneto over I2C (#2742)
  • support Holybro Kakute F7 (#2746)
  • Add PPM input to Pixhawk 4 (px4fmuv5) (#2751)
  • correct ADC buffer offset for ChibiOS (#2761)
  • improve ins invariant (#2768) (#2770) (#2763) (#2803)
  • EKF2 Optical Flow Interface (#2779)
  • ADD tilt twist control (twist around z) (#2782)
  • wind estimation from quadrotor motion (#2800)
  • update and harmonized navigation frequency (#2796)
  • Fix chibiOS log for F7: update chibios fatfs lfn2 dmastack (#2806)

Paparazzi v5.18.0_stable

Stable version release, the last of series 5

The next version 6.0 will be unstable with several incompatible changes and the end of the support of lpc21 and bare-metal stm32 (libopencm3).

General

  • rewrite aircraft generator (#2545) (#2562) (#2581) (#2684)
  • pprzlink update (#2548) (#2590) (#2591)
  • documentation (#2558) (#2583) (#2604) (#2628)
  • bug fix (#2569) (#2572) (#2577) (#2616) (#2619) (#2662) (#2663) (#2665)
  • bebop network script (#2571)
  • improve joystick tool (#2579)
  • selectable navigation functions for flight plan (#2585)
  • Ubuntu 20.04 and Python 3 support (#2586) (#2588) (#2587) (#2595) (#2689)
  • python lib for FP, settings, etc (#2592)
  • fix secure pprzlink (#2645) (#2646)
  • update docker to 18.04 (#2656) (#2679)
  • test node for modules (#2653)
  • fix SRTM download (#2659)
  • server arg to set log file name (#2664)
  • module dependency (#2669)
  • support LTP waypoints in flight plan (#2676)
  • dummy WP at (0,0) (#2694)

Airborne

  • bug fix (#2532) (#2536) (#2549) (#2553) (#2555) (#2552) (#2566) (#2580) (#2598) (#2609) (#2625) (#2652) (#2672) (#2675)
  • cleaning (#2534) (#2547) (#2557) (#2593) (#2630) (#2680) (#2683)
  • board config (#2542) (#2620) (#2629) (#2649) (#2650) (#2678) (#2690) (#2691)
  • system identification modules (#2544) (#2510) (#2551)
  • new board support: Eachine (#2540), Tawaki 1.1 (#2574) (#2596), Matek F405 (#2602) (#2614), nucleo144 (#2624), Matek F7
  • sensors (#2554)
  • split arming from AP code (#2550)
  • hybrid guidance (#2533)
  • drivers (#2564) (#2575) (#2578)
  • improve INDI code (#2573) (#2668) (#2688)
  • GVF parametric guidance (#2559)
  • support more timers (#2584) (#2667)
  • bio inspired swarm nav (#2597)
  • SPI SD logger update (#2605)
  • shell module (#2634) (#2681)
  • ID module update (#2638) (#2640)
  • computer vision (#2618) (#2655)
  • update to ChibiOS 20.3 (#2657)
  • update eigen (#2658) (#2682)
  • rapid rearming after kill (#2670)

Paparazzi v5.16.0_stable

Stable version release

General

  • update pprzlink and chibios
  • airframe update (#2380) (#2397) (#2398) (#2458) (#2486) (#2527) (#2525)
  • more explicit calls to Python2 or Python3 (#2373) (#2513)
  • add ROS/Gazebo support with sonar sensor (#2399), camera (#2383)
  • Removal of unused flightplans (#2430)
  • add special keyword to avoid conflict with XML invalid characters (#2434)
  • TU Delft MAVLab course 2019 (#2452)
  • improve bebop scripts
  • fix build dep for tools (#2472)
  • Update for Ubuntu 20.04 (ocaml and python tools) and GCC 9 (airborne code) (#2512)
  • support of more recent jsbsim versions (#2520)

GCS and ground tools

  • bridge between Natnet, Simulink and Paparazzi
  • bluegiga stdma dongle (#2261)
  • fix flight times and kill_throttle display in GCS (#2387)
  • Improved automated python tools for maintenance (#2433) (#2438)
  • add small tool to get A/C conf from server (#2431)
  • python paparazzi center tools impovement (#2445)
  • change the old paparazzi launch script from ocaml to python (#2467)
  • Qt module creator (#2479)
  • Add GPSD to IVY functionalities for follow me (#2499)

Airborne

  • upgrade voltage and current to float (#2360)
  • driver update (#2379), configurable stack size for mcu periph
  • Restructure bebop camera settings and ISP (#2364)
  • Fix bugs of quat_from_earth_cmd_f() (#2117)
  • add rover holonomic controller (#2388)
  • Add PX4FMU V4 (pixracer) (#2394), TAWAKI board (#2419), Crazyflie v2.1 (#2481), Pixhawk 4 (#2506)
  • new sensor drivers: LIS3MDL, TFMini lidar (#2395), BMP3 (Bosh-Sensortech) baro, LSM6DS33 (gyro/accel) and LPS25H (baro) drivers (#2437), IST8310 magnetometer (#2496), VL53L1X laser ranger driver and sonar module (#2519), pmw3901mb (#2529)
  • convert old joystick input to module
  • add support of DSHOT to chibios
  • Fixed ACT corner bug (#2411)
  • IMU prefiltering using the One Euro filter (#2413)
  • Add EKF2 from the PX4 ECL library (#2402)
  • Fix yaw arming (#2421)
  • don't reset vertical ref in guided mode (#2418)
  • WS2812 led module (#2435)
  • add filter on accel heuristic of DCM AHRS
  • INS invariant filter can use GPS heading instead of magneto
  • fix PRIMARY_GPS check in precompile step
  • Filtering option added to SDP3X airspeed sensor (#2436)
  • Add e-identification module
  • FIX usb_transparent STM32F4 GPIOA clock not enabled (#2461)
  • add target_localization module (#2464)
  • small bug fixes (#2462) (#2518) (#2478) (#2493) (#2492) (#2498)
  • allow to trigger kill mode from RC for fixedwing
  • configurable heading during rotorcraft survey
  • fix bungee takeoff (#2465)
  • Collective tracking control (#2469)
  • make log file closing faster and safer (#2470)
  • Added RTCM moving baseline messages and extended amount of GPS channels (#2477)
  • move some functionnality to jevois cam driver (#2471)
  • Wls update (#2484) (#2523)
  • WMM updated for 2020-2025 period (#2485)
  • Dynamic grid in rectangle surveys (#2488)
  • parse the correct datalink buffer (#2494)
  • add support for UBX PVT message
  • update ubx auto conf module
  • Add software-I2C (#2514)
  • Multi ranger (#2524) and Flow V2 deck integration
  • update ws2812 for apogee and tawaki

Paparazzi v5.14.0_stable

Stable version release

Paparazzi v5.13.0_testing

First release candidate for v5.14

General

GCS

Airborne

Paparazzi v5.12_stable

Stable version release

Paparazzi v5.11_devel

Update changelog

General

Airborne

Paparazzi v5.10_stable

Stable version release

Paparazzi v5.9.0_testing

First release candidate for v5.10

General

Airborne

Rotorcraft firmware

Fixed-wing firmware

Drivers/HW support

Simulator

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.

Paparazzi v5.8.0_stable

Stable version release.

Paparazzi 5.7.1_testing

Second release candidate for v5.8 stable release.

Paparazzi 5.7.0_testing

First release candidate for v5.8 stable release.

General

Airborne

Rotorcraft firmware

Modules

Simulation

Drivers/HW support

Paparazzi 5.6.0_stable

Stable version release.

Paparazzi 5.5.2_testing

Thirst release canditate for v5.6 stable release.

Paparazzi 5.5.1_testing

Second release candidate for v5.6 stable release.

Paparazzi 5.5.0_testing

First release candidate for v5.6 stable release.

General

Airborne

Rotorcraft firmware

Modules

Simulation

Linux arch support

other drivers/HW support

Paparazzi 5.4.2_stable

Maintenance release

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.

Paparazzi 5.3.3_testing

Fourth release candidate for v5.4 stable release.

Paparazzi 5.3.2_testing

Third release candidate for v5.4 stable release.

Paparazzi 5.3.1_testing

Second release candidate for v5.4 stable release.

Paparazzi 5.3.0_testing

First release candidate for v5.4 stable release.

General

Simulation

Airborne

Modules

Drivers/HW support

Paparazzi 5.2.1_stable

Maintenance release

Paparazzi 5.2.0_stable

Stable version release.

General

Airborne

Rotorcraft Firmware

STM32 architecture

Paparazzi 5.1.1_testing

Second release candidate for v5.2 stable release.

General

Airborne

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

Fixedwing firmware

Paparazzi 5.1.0_testing

First release candidate for next stable release.

General

Simulation

Hardware support

Airborne

Rotorcraft firmware

Fixedwing firmware

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

Rotorcraft/Fixedwing firmwares

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

Hardware support

Airborne

Rotorcraft firmware specific

  • Quadshot transitioning vehicle support.
  • Care Free Mode

Paparazzi 4.2.2_stable

Maintenance release

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.

Paparazzi 4.1.0_testing

First release candidate for next stable release.

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

New hardware support

Airborne

Rotorcraft firmware specific

Fixedwing firmware specific

  • Using a gyro (with IR sensors) is done via imu subsystem now as well

Simulator

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 <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
  • Enable new I2C driver via <configure name="USE_NEW_I2C_DRIVER"/>
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