paparazzi/CHANGELOG.md

Paparazzi 4.1 - development branch

• STM libs completely replaced by libopencm3
• 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)

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"/>