paparazzi/CHANGELOG.md

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

• experimental integration of Rust module to the airborne code [#2355] (https://github.com/paparazzi/paparazzi/pull/2355)
• document quat to axis conversion [#2367] (https://github.com/paparazzi/paparazzi/pull/2367)
• fix synchro on SBUS radio control [#2370] (https://github.com/paparazzi/paparazzi/pull/2370)

Paparazzi v5.13.0_testing

First release candidate for v5.14

General

• split tools description into individual files [#2350] (https://github.com/paparazzi/paparazzi/pull/2350)
• add ROVER firmware [#2276] (https://github.com/paparazzi/paparazzi/pull/2276)
• Ocaml 4.05 compat [#2221] (https://github.com/paparazzi/paparazzi/pull/2221)
• Python pprz center improvements [#2236] (https://github.com/paparazzi/paparazzi/pull/2236) [#2210] (https://github.com/paparazzi/paparazzi/pull/2210) [#2093] (https://github.com/paparazzi/paparazzi/pull/2093)
• fix compilations for GCC7 [#2233] (https://github.com/paparazzi/paparazzi/pull/2233) [#2208] (https://github.com/paparazzi/paparazzi/pull/2208)
• support for NatNet3 [#2198] (https://github.com/paparazzi/paparazzi/pull/2198)
• use PPRZLINK v2.0 by default [#2191] (https://github.com/paparazzi/paparazzi/pull/2191)
• store SHA in aircraft conf [#1921] (https://github.com/paparazzi/paparazzi/pull/1921)
• improve Gazebo support [#2357] (https://github.com/paparazzi/paparazzi/pull/2357) [#2338] (https://github.com/paparazzi/paparazzi/pull/2338) [#2335] (https://github.com/paparazzi/paparazzi/pull/2335) [#2230] (https://github.com/paparazzi/paparazzi/pull/2230) [#2225] (https://github.com/paparazzi/paparazzi/pull/2225) [#2219] (https://github.com/paparazzi/paparazzi/pull/2219) [#2172] (https://github.com/paparazzi/paparazzi/pull/2172) [#2149] (https://github.com/paparazzi/paparazzi/pull/2149) [#2120] (https://github.com/paparazzi/paparazzi/pull/2120) [#2128] (https://github.com/paparazzi/paparazzi/pull/2128) [#2135] (https://github.com/paparazzi/paparazzi/pull/2135)
• start Sphinx doc [#2247] (https://github.com/paparazzi/paparazzi/pull/2247)
• set xbee channel option [#2290] (https://github.com/paparazzi/paparazzi/pull/2290) [#2288] (https://github.com/paparazzi/paparazzi/pull/2288)
• fix Docker image and dependencies
• conf cleaning

GCS

• display air traffic from Opensky network [#2259] (https://github.com/paparazzi/paparazzi/pull/2259)
• configuration [#2131] (https://github.com/paparazzi/paparazzi/pull/2131)
• improve cam footprint [#2103] (https://github.com/paparazzi/paparazzi/pull/2103)
• A/C on top [#2274] (https://github.com/paparazzi/paparazzi/pull/2274)

Airborne

• update RC lost behavior [#2287] (https://github.com/paparazzi/paparazzi/pull/2287) [#2286] (https://github.com/paparazzi/paparazzi/pull/2286)
• update to ChibiOS 18.2.2 [#2296] (https://github.com/paparazzi/paparazzi/pull/2296)
• fix intermcu [#2275] (https://github.com/paparazzi/paparazzi/pull/2275)
• throttle curve [#1878] (https://github.com/paparazzi/paparazzi/pull/1878)
• INDI control improvements [#2200] (https://github.com/paparazzi/paparazzi/pull/2200) [#2145] (https://github.com/paparazzi/paparazzi/pull/2145)
• Estimation filters (drag, wind) [#2351] (https://github.com/paparazzi/paparazzi/pull/2351) [#2320] (https://github.com/paparazzi/paparazzi/pull/2320) [#1910] (https://github.com/paparazzi/paparazzi/pull/1910) [#2262] (https://github.com/paparazzi/paparazzi/pull/2262) [#2161] (https://github.com/paparazzi/paparazzi/pull/2161) [#2132] (https://github.com/paparazzi/paparazzi/pull/2132)
• range sensor [#2158] (https://github.com/paparazzi/paparazzi/pull/2158)
• HACL-C, secure telemetry, RNG support [#2245] (https://github.com/paparazzi/paparazzi/pull/2245) [#2235] (https://github.com/paparazzi/paparazzi/pull/2235) [#2205] (https://github.com/paparazzi/paparazzi/pull/2205) [#2199] (https://github.com/paparazzi/paparazzi/pull/2199) [#2192] (https://github.com/paparazzi/paparazzi/pull/2192) [#2150] (https://github.com/paparazzi/paparazzi/pull/2150) [#2163] (https://github.com/paparazzi/paparazzi/pull/2163) [#2164] (https://github.com/paparazzi/paparazzi/pull/2164)
• math and filter lib [#2226] (https://github.com/paparazzi/paparazzi/pull/2226) [#2160] (https://github.com/paparazzi/paparazzi/pull/2160) [#2156] (https://github.com/paparazzi/paparazzi/pull/2156) [#2142] (https://github.com/paparazzi/paparazzi/pull/2142)
• bebop wifi tools [#2234] (https://github.com/paparazzi/paparazzi/pull/2234) [#2146] (https://github.com/paparazzi/paparazzi/pull/2146)
• preliminary F3 and X-Vert support [#2113] (https://github.com/paparazzi/paparazzi/pull/2113)
• computer vision fixes and improvements [#2363] (https://github.com/paparazzi/paparazzi/pull/2363) [#2334] (https://github.com/paparazzi/paparazzi/pull/2334) [#2330] (https://github.com/paparazzi/paparazzi/pull/2330) [#2324] (https://github.com/paparazzi/paparazzi/pull/2324) [#2325] (https://github.com/paparazzi/paparazzi/pull/2325) [#2315] (https://github.com/paparazzi/paparazzi/pull/2315) [#2308] (https://github.com/paparazzi/paparazzi/pull/2308) [#2305] (https://github.com/paparazzi/paparazzi/pull/2305) [#2297] (https://github.com/paparazzi/paparazzi/pull/2297) [#2173] (https://github.com/paparazzi/paparazzi/pull/2173) [#2269] (https://github.com/paparazzi/paparazzi/pull/2269) [#2239] (https://github.com/paparazzi/paparazzi/pull/2239) [#2215] (https://github.com/paparazzi/paparazzi/pull/2215) [#2195] (https://github.com/paparazzi/paparazzi/pull/2195) [#2159] (https://github.com/paparazzi/paparazzi/pull/2159) [#2150] (https://github.com/paparazzi/paparazzi/pull/2150) [#2096] (https://github.com/paparazzi/paparazzi/pull/2096)
• Decawave UWB modules [#2154] (https://github.com/paparazzi/paparazzi/pull/2154)
• formation control [#2293] (https://github.com/paparazzi/paparazzi/pull/2293) [#2246] (https://github.com/paparazzi/paparazzi/pull/2246) [#2206] (https://github.com/paparazzi/paparazzi/pull/2206)
• fix mission control [#2211] (https://github.com/paparazzi/paparazzi/pull/2211)
• Jevois smart camera support [#2342] (https://github.com/paparazzi/paparazzi/pull/2342) [#2343] (https://github.com/paparazzi/paparazzi/pull/2343) [#2322] (https://github.com/paparazzi/paparazzi/pull/2322)
• better arming status messages
• rewrite Spektrum driver [#2250] (https://github.com/paparazzi/paparazzi/pull/2250)

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