paparazzi/CHANGELOG.md

Paparazzi 5.3_devel

currently ongoing development, changes so far (no particular order, nor complete)

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"/>