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Paparazzi v6.3.0_stable

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

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

And also many other improvements and corrections...

Paparazzi v6.2.0_stable

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

General

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  • cleaning outdated confs (#2881)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

Airborne

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

Paparazzi v6.1.0_stable

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

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

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

Paparazzi v6.0.0_testing

First release candidate for v6.1_stable

Many deep changes have already been done, including:

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

General

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

Airborne

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

Paparazzi v5.18.0_stable

Stable version release, the last of series 5

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

General

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

Airborne

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

Paparazzi v5.16.0_stable

Stable version release

General

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

GCS and ground tools

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

Airborne

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

Paparazzi v5.14.0_stable

Stable version release

  • experimental integration of Rust module to the airborne code [#2355] (#2355)
  • document quat to axis conversion [#2367] (#2367)
  • fix synchro on SBUS radio control [#2370] (#2370)

Paparazzi v5.13.0_testing

First release candidate for v5.14

General

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

GCS

  • display air traffic from Opensky network [#2259] (#2259)
  • configuration [#2131] (#2131)
  • improve cam footprint [#2103] (#2103)
  • A/C on top [#2274] (#2274)

Airborne

Paparazzi v5.12_stable

Stable version release

Paparazzi v5.11_devel

Update changelog

General

Airborne

Paparazzi v5.10_stable

Stable version release

Paparazzi v5.9.0_testing

First release candidate for v5.10

General

  • using Coverity scan tool for static code analysis https://scan.coverity.com/projects/paparazzi-paparazzi
  • optitrack fixes and gps_datalink protocol updates [#1506] (#1506) [#1563] (#1563)
  • optitrack/natnet logging [#1538] (#1538)
  • factor out message library and tools into https://github.com/paparazzi/pprzlink [#1503] (#1513)
  • pprzlink: support reading unaligned fiels from messages [#1528] (#1528)
  • pprzlink: update to C API with file descriptor param [#1593] (#1593)
  • flight plans: allow variable declarations in flight plans [#1530] (#1530)
  • flight plans: load modules directly from a flight plan [#1540] (#1540)
  • flight plans: add call_once alias for run without looping [#1675] (#1675)
  • flight plans: simpler geofence safety behaviour definition [#1664] (#1644) [#1802] (#1802)
  • module build system: improvements to efficiently replace subsystems [#1534] (#1534) [#1590] (#1590) [#1643] (#1643) [#1728] (#1728) [#1760] (#1760)
  • paparazzi center: make console non-editable and CTRL-C usable to copy text [#1546] (#1546) [#1547] (#1547)
  • paparazzi center: better save dialog on quit to replace backup dialog at start [#1591] (#1591) [#1640] (#1640)
  • GCS: add Bebop-like rotorcraft icon [#1552] (#1552)
  • GCS: changed default layout and make it easier to configure [#1600] (#1600) [#1601] (#1601)
  • update to latest libopencm3 [#1557] (#1557)
  • build: print more verbose info on xml loading errors [#1570] (#1570)
  • build: add board specific flags: e.g. use link-time-optimization on smaller boards [#1645] (#1645)
  • OCaml: deal with string deprecated warnings for OCaml >= 4.02 [#1703] (#1703)
  • tools: video stream viewer with ROI selection [#1708] (#1708)
  • add a vertical component to the wind vector [#1713] (#1713)
  • math: fix overflow in int32_quat_vmult [#1722] (#1722)
  • math: int32 generic vector math [#1758] (#1758)
  • cockpit: workaround lablgtk 2.18 Debian/Ubuntu bug [#1647] (#1647)
  • GCS: plot shapes on the map [#1809] (#1809)
  • paparazzicenter: experimental Python version [#1811] (#1811)
  • try to prevent speech spam in GCS [#1842] (#1842)

Airborne

  • gps: cleanup utm support and remove GPS_USE_LATLONG flag [#1476] (#1476)
  • gps: support multiple GPS at once with automatic switching [#1532] (#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] (#1580)
  • sdlog: add SD logging for some meteo sensors on compatible boards [#1498] (#1498) [#1512] (#1512)
  • datalink: update bluegiga protocol [#1507] (#1507)
  • module: computer vision: orange avoider example [#1539] (#1539)
  • module: refactor XSens drivers and conver them to modules [#1541] (#1541)
  • module: improve optic flow calculation in LukasKanade and add edgeflow [#1558] (#1558) [#1586] (#1586)
  • replace bool_t with C99 bool from stdbool.h [#1577] (#1577)
  • module: add px4_gimbal for gimal control on Pixhawk [#1592] (#1592)
  • module: add esc32 for ESC32v3 speed controller [#1636] (#1636)
  • module: Support uADC probe from Aeroprobe [#1639] (#1639)
  • module: nav routine for pneumatic launcher takeoff [#1655] (#1655)
  • module: nav routine for skid landing [#1669] (#1669)
  • module: rpm_sensor [#1666] (#1666)
  • module: pose_history [#1737] (#1737)
  • improved vision pipeline with dual video support and async threads [#1648] (#1648) [#1735] (#1735) [#1764] (#1764) [#1806] (#1806)
  • computer vision: optical flow landing module [#1611] (#1611)
  • computer vision: openCV examples [#1663] (#1663) [#1789] (#1789) [#1798] (#1798) [#1824] (#1824)
  • computer vision: image appearance representation using texton distribution [#1692] (#1692)
  • UTM handling upgrades [#1629] (#1629) [#1637] (#1637) [#1730] (#1730)
  • datalink: add bluegiga capability to decode direct air-2-air messages [#1633] (#1633)
  • filters: delayed first order filter, second order notch filter [#1736] (#1736) [#1733] (#1733)
  • convert subsystems to modules [#1625] (#1625) [#1638] (#1638) [#1740] (#1740) [#1788] (#1788)
  • telemetry over intermcu [#1821] (#1821)
  • unified sys_mon and rtos_mon modules [#1846] (#1846)

Rotorcraft firmware

  • add velocity commands for guided mode [#1502] (#1502)
  • add traffic info support [#1509] (#1509)
  • refactor INDI stabilization and INDI rate control [#1519] (#1519)
  • add oval navigation routine (like in fixedwing) [#1568] (#1568)
  • improve helicopter support: spinup routines and flight plan mode manual [#1606] (#1606)
  • helicopter: INDI controller [#1752] (#1752)
  • converted PI rate controller to float [#1624] (#1624)
  • better defaults for vertical climb mode to avoid surprises [#1627] (#1627)
  • extension of the guided protocol [#1694] (#1694)
  • guidance for hybrid drones [#1769] (#1769)

Fixed-wing firmware

  • split AP and FBW taks when using ChibiOS [#1767] (#1767)
  • Hard-fault recovery wen using ChibiOS [#1815] (#1815)

Drivers/HW support

  • peripherals: MPUxxxx: configure multiple I2C slaves [#1499] (#1499)
  • peripherals: MPU60x0: fix startup bug [#1602] (#1602)
  • peripherals: support for AK8975 mag in MPU9150 [#1508] (#1508)
  • support for Pixhawk board (with split ap/fbw processors) [#1551] (#1551) [#1566] (#1566) [#1569] (#1569) [#1587] (#1587)
  • Parrot Bebop: increase luminosity of front camera [#1562] (#1562)
  • Parrot Bebop: fix for firmware 3.2.0 [#1745] (#1745) [#1828] (#1828)
  • Parrot Bebop: camera upgrade [#1750] (#1750) [#1766] (#1766) [#1818] (#1818) [#1825] (#1825) [#1826] (#1826) [#1834] (#1834)
  • Parrot ARDrone2/Bebop: startup fixes [#1571] (#1571) [#1588] (#1588)
  • support for new OPA (Oversized Paparazzi Autopilot) [#1615] (#1615) [#1657] (#1657)
  • drop support for classix [#1626] (#1626)
  • CAN support for STM32F4 [#1670] (#1670)
  • support for OpenPilot Revolution board (without modem) [#1676] (#1676)
  • support for pure ChibiOS architecture [#1699] (#1699) [#1743] (#1743) [#1767] (#1767)

Simulator

  • NPS: simulate airspeed and temperature sensors and get pressure from FDM [#1554] (#1554)
  • NPS: set wind via FlightGear [#1565] (#1565)
  • gaia: fix environment simulator time scale selector [#1653] (#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] (#1490)
  • module: fix gps_ublox
  • boards: naze32: default to SERIAL (USB) flash mode
  • generators: always put configure options at beginning [#1517] (#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] (#1454)
  • module: gps_ubx_ucenter fix autobaud and autoconf for ublox-8 [#1480] (#1480)
  • module: add stereocam2state which publishes a VELOCITY_ESTIMATE from stereocam [#1486] (#1486)
  • arch/linux: I2C: use repeated-start for transceive as required by some sensors [#1469] (#1469)
  • remove unused libeknav and fms folder [#1487] (#1487)

Paparazzi 5.7.1_testing

Second release candidate for v5.8 stable release.

  • SPI slave implemented and tested for STM32F4 [#1456] (#1456)
  • Added support for Elle0 V1.2 [#1465] (#1465)
  • Bebop: fix motor directions [#1466] (#1466) [#1468] (#1468) [#1474] (#1474)
  • stereo camera modules: obstacle avoidance and follow me [#1462] (#1462) [#1472] (#1472) [#1473] (#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] (#1471)
  • rotorcraft rate controller setpoints in deg/s [#1479] (#1479)
  • Guided mode for rotorcrafts [#1457] (#1457)
  • naze32: PPM input on PA0 by default [#1481] (#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] (#1301)
  • Optitrack/Natnet: Implement smaller GPS messages from NATNET to PPRZ [#1308] (#1308)
  • Paparazzi Center: update list of settings on build [#1331] (#1331)
  • Paparazzi Center: add reload button [#1359] (#1359)
  • Paparazzi Center: easily create new aircraft by copying existing aircraft [#1209] (#1209)
  • python messages parser: add unit conversion coeffs [#1340] (#1340)
  • server: increase maximum Ivy message length for use with many settings [#1344] (#1344)
  • flight plans: add exec attribute to exceptions [#1347] (#1347)
  • python: compare and test different attitude reference models [#1357] (#1357)
  • GCS: only print bat warning every 10s [#1358] (#1358)
  • GCS: kill confirmation opitional with -no_confirm_kill option [#873] (#873)
  • GCS: load KML sectors for display in GCS [#404] (#404)
  • GCS: fix zoom of video papget [#889] (#889)
  • generators: check waypoint altitude against SRTM data [#1361] (#1361)
  • Add ADS-B parser and handling of INTRUDERS [#1372] (#1372)
  • logalizer: replay ground messages [#1380] (#1380)
  • messages: support multiple variable length arrays in telemetry [#1385] (#1385)
  • Docker: fix script to run Docker on OSX (with X-access) [#1425] (#1425)
  • python: fix messages/settings with wxgtk3.0 [#1435] (#1435)
  • flight plans for fixedwing: force UTM zone of waypoints to same as ref point to fix waypoints across two UTM zones [#303] (#303)
  • realtime plotter: fix issue on Ubuntu with Unity [#1446] (#1446)

Airborne

  • INS: vertical filter: rename VF_FLOAT_x defines to VFF_x
  • persistent_settings: add settings_clear [#1309] (#1309)
  • electrical: fix non-real number possibility in current calculation [#1314] (#1314)
  • electrical: improve current estimation with MILLIAMP_AT_IDLE_THROTTLE [#1319] (#1319)
  • energy control: use ABI instead of IMU struct [#1324] (#1324)
  • state interface: pass basic types by value [#1330] (#1330)
  • settings: mark a lot more settings as persistent [#1345] (#1345)
  • add OPTICAL_FLOW and VELOCITY_ESTIMATE ABI messages [#1350] (#1350)
  • INS: use opticflow/VELOCITY_ESTIMATE in filter [#1387] (#1387) [#1412] (#1412)
  • radio_control: change spektrum and superbitrf channel signs to conform to standard [#1403] (#1403)
  • actuators: add Spektrum output actuators [#1411] (#1411)
  • actuators: new AscTec ESC I2C protocol [#1416] (#1416)
  • periodic telemetry: possibility to register periodic message multiple times [#1440] (#1440)
  • AHRS/messages: add component/filter ID to AHRS messages [#1441] (#1441)
  • peridic telemetry: use msg ID instead of strings for matching (reduces size) and add support for mavlink [#1448] (#1448)
  • math: possibility to compress sine table for flash and RAM [#1452] (#1452)

Rotorcraft firmware

  • navigation: tunable navigation parameters in airframe file [#1315] (#1315)
  • guidance: add a flip mode [#1352] (#1352)
  • guidance: add outer loop INDI control [#1354] (#1354)
  • stabilization: refactor attitude reference generation and runtime adjustable saturation [#1374] (#1374) [#1382] (#1382)
  • radio control: possibility to use two 2way switches for mode [#1375] (#1375)
  • support dual-mcu setup with split autopilot (AP) and FlyByWire (FBW) [#1423] (#1423)
  • support for helicopter/swashplate mixing and throttle curves [#1437] (#1437)
  • tmtc/server: set course correctly from east/north velocity for correct ACINFO [#1449] (#1449)
  • possibility to use NAV mode without GPS (define NO_GPS_NEEDED_FOR_NAV) [#1451] (#1451)

Modules

  • video_rtp_stream: make sending via RTP configurable and fix netcat option [#1293] (#1293) [#1426] (#1426)
  • video_exif: Add GPS coordinates in JPEG images [#1311] (#1311)
  • bebop_front_camera: front camera streaming at low resolution [#1313] (#1313)
  • stereocam module: decode TUDelft stereocam messages [#1317] (#1317) [#1342] (#1342) [#1362] (#1362) [#1433] (#1433)
  • digital_cam_video: trigger video_rtp_stream to store JPEG images [#1323] (#1323)
  • cv_qrcode: read QR code using libzbar [#1327] (#1327)
  • video_thread: simple framework to read video and add other computer vision modules [#1328] (#1328)
  • opticflow: add linear optical flow fit [#1332] (#1332)
  • cv_blob_locator: Find a colored item and track its geo-location and update a waypoint to it [#1348] (#1348)
  • dropzone: select a dropzone [#1356] (#1356)
  • logger_sd_spi_direct: high speed logging to SD Card (via SPI) [#1392] (#1392)
  • cleanup configure options for SPI/I2C devices [#1424] (#1424)
  • mavlink: modify waypoints and add Paparazzi specific SCRIPT messages to change blocks [#1422] (#1422) [#1434] (#1434)

Simulation

  • fixedwing sim: fix datalink_time [#1394] (#1394)
  • NPS: use UDP for telemetry/datalink [#1404] (#1404)

Drivers/HW support

  • peripherals: hmc58xx: only set data available if measurements were valid
  • imu: booz2 v1.2 has HMC5843 [#1300] (#1300)
  • STM32F4: added support for persistent settings [#1302] (#1302)
  • telemetry via Bluegiga bluetooth module (SPI) [#1303] (#1303) [#1325] (#1325) [#1365] (#1365) [#1388] (#1388) [#1401] (#1401)
  • INS: Vectornav VN-200 driver [#1318] (#1318)
  • apogee: IMU: test_baro_board with IMU [#1310] (https://github.com/paparazzi/paparazzi/pull/1310/commits)
  • Bebop: bottom camera with VGA resolution [#1316] (#1316)
  • Parrot drones: easier switching between bottom and front cameras [#1333] (#1333)
  • Bebop: fix RPM measurements [#1400] (#1400)
  • support for Bebop2 [#1429] (#1429)
  • Improve Piksi GPS (DGPS, RTK) support [#1349] (#1349) [#1386] (#1386)
  • STM32: fix ADC bug when trying to use higher channels [#1366] (#1366)
  • STM32: fix SPI slave initialization [#1371] (#1371)
  • boards: support for naze32, CC3D and CJMCU [#1452] (#1452)

Paparazzi 5.6.0_stable

Stable version release.

  • compile/run paparazzi in a docker container [#1272] (#1272)
  • multimon: fix compilation with gcc 5.x [#1276] (#1276)
  • arch/linux: replace mcu event polling with threads [#1277] (#1277)
  • ardrone2: make UART1_DEV changeable from airframe file
  • optitrack/natnet: update to version 2.7 [#1275] (#1275) [#1284] (#1284)
  • link/GCS: fix LINK_REPORT and display of link status in GCS [#1279] (#1279)
  • GPS: add hmsl to GPS_LLA message [#1282] (#1282)
  • modules: set nice level for viewvideo thread [#1283] (#1283)
  • arch/linux: Rename uart/udp_transmit to uart/udp_put_byte [#1285] (#1285)
  • GPS: NMEA parser fixes [#1287] (#1287)
  • modules: viewvideo, fix image path [#1289] (#1289)
  • simulator: FlightGear visualization using native-fdm for NPS [#1290] (#1290)
  • rotorcraft: INDI stabilization updates [#1292] (#1292)
  • boards: add support for ELLE0 [#1294] (#1294)
  • arch/linux: uart: fix crash if device does not exist [#1299] (#1299)

Paparazzi 5.5.2_testing

Thirst release canditate for v5.6 stable release.

  • ardrone2 and bebop: disable even loop limiting again [#1240] (#1240)
  • bebop: finally fix I2C address for baro
  • modules: update geo_mag to latest WMM2015 model [#1270] (#1270)
  • settings: add optional target attribute and calc MD5sum according to usable settings [#1157] (#1157)
  • stm32: improve I2C stability in case of stuck bus [#1264] (#1264)
  • i2c: cleanup I2C_ERRORS reporting [#1268] (#1268)
  • modules: add divergen calculation for opticflow [#1262] (#1262)
  • python: Add some utilities and a serial link interface to decode/encode PPRZ messages over a serial link [#1261] (#1261)
  • modules: mag_hmc58xx: configure MAG_HMC58XX_I2C_DEV [#1274] (#1274)
  • IMU: possibility to disable mag on aspirin 2 [#1273] (#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] (#1255)
  • airborne: change ABI_BROADCAST id from 0 to 255 and introduce ABI_DISABLE [#1260] (#1260)
  • airframes: cleanup and use standard motor mixing types [#1231] (#1231) [#1249] (#1249)
  • ahrs: reduced default ahrs align delay [#1256] (#1256)
  • add an optional board_init function and fix bat check on bebop [#1253] (#1253)
  • ARDrone2: fix battery checks, needs bat_voltage_ardrone2 module now [#1252] (#1252)
  • paparazzi center: improve handling of programs from control_panel.xml [#1247] (#1247)
  • server: set http port, replace -kml_port option with -port [#1248] (#1248)
  • logalizer: rename plot to logplotter for clarity [#1226] (#1226
  • GCS: don't prove airframe dtd if served via http [#1246] (#1246)
  • Fixed unsanctioned yaw unkill problem with uninitialised joysticks [#1242] (#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] (#603)
  • paparazzi center: case insensitive sort of airframe combobox [#993] (#993)
  • paparazzi center: add @AIRCRAFT and @AC_ID placeholders for generic sessions [#1217] (#1217)
  • GCS: improve papgets with multi aircraft support [#1068] (#1068)
  • GCS: fix undo for list of values [#1054] (#1054)
  • GCS: fix AIRCRAFTS syncronization issue with server (sometimes resulted in blank GCS) [#1078] (#1078)
  • GCS: set bat level to UNK/0 at startup [#885] (#885)
  • GCS: add -ac_ids option to specify displayed aircrafts [#1173] (#1173)
  • GCS: add new flat icon theme [#1193] (#1193) [#1234] (#1234)
  • plotter: add support for adding constant curves via command line [#1227] (#1227)
  • logplotter: rename plot to logplotter for clarity [#1226] (#1226)
  • ground segment: add geometry param to messages and setttings agents [#1232] (#1232)
  • ground segment: improve Ivy efficiency [#1082] (#1082)
  • link: parameters for period of PING and LINK_REPORT messages [#1037] (#1037)
  • link: add '-ac_timeout' parameter after which AC is marked as dead [#820] (#820)
  • OCaml: try to live in harmony with the garbage collector [#1076] (#1076)
  • OCaml: use Array.make instead of deprecated Array.create
  • OCaml: use camlp4 to ifdef around netclient/lablgtk version differences [#1137] (#1137)
  • OCaml: fix string formatting of values in pprz ocaml lib [#1135] (#1138)
  • OCaml: remove deprecated GnoDruid
  • python: generate paparazzi math wrappers with SWIG [#1066] (#1066)
  • python: improve ivy messages interface [#1073] (#1073)
  • python: add simple ivy2redis script [#1071] (#1071)
  • python: add report tool for IMU scaled messages [#1194] (#1194)
  • build: Possibilty to specify conf.xml file for building aircrafts [#1134] (#1134)
  • build: use -ggdb3 DEBUG_FLAGS by default [#1164] (#1164)
  • build: use pkg-config for ivy-c if available
  • joystick: add new RC USB joystick from HobbyKing [#1088] (#1088)
  • conf: add HooperFly quad/hexa/octo airframe/JSBSim configs and new GCS icons [#1081] (#1081)
  • flight plans: dynamic sectors and InsideX function for concave polygons [#643] (#643) [#605] (#605) [#1204] (#1204)
  • improve defining of arrays in the airframe file [#564] (#564) [#1192] (#1192)
  • update udev rules [#1165] (#1165)
  • update google map version extraction script

Airborne

  • allow to pass variables by value to ABI callbacks [#1087] (#1087)
  • major refactoring of AHRS/INS interfaces using ABI, add dual AHRS support [#856] (#856) [#1130] (#1130)
  • AHRS: add (yet another) AHRS based on an invariant filter
  • GPS/IMU: directly send ABI messages from implementation [#1153] (#1153) [#1154] (#1154)
  • refactoring, use the generic LinkDevice interface for receiving data streams [#1140] (#1140)
  • telemetry: store periodic telemetry msg names as const to save ram [#1151] (#1151)
  • actuators: dual dual pwm [#1102] (#1102)
  • GPS: NMEA parser improvements [#1146] (#1146)
  • GPS: fix furuno parser (Bebop) [#1148] (#1148)
  • INS: start considering BODY_TO_GPS translation [#1080] (#1080)
  • INS: update NED accel with ins_alt_float [#1156] (#1156)
  • INS: prevent propagation if there are no measurement updates [#1241] (#1241)
  • cleanup: remove unused/unmaintained beth and fms code [#1162] (#1162)
  • state interface: fix LLA calculation if only UTM origin initialized [#1171] (#1171)
  • chibios SD logger: fix bad file name problem
  • fixedwing stabilization: yaw damper and active lift ctrl [#1190] (#1190)

Rotorcraft firmware

  • fix attitude flight plan primitive (attitude_set_rpy_setpoint) [#1103] (#1103)
  • implement global waypoints for rotorcrafts [#1065] (#1065)
  • improve motor_mixing priorities [#1170] (#1170)
  • predefined motor_mixing for common configurations [#1175] (#1175) [#1244] (#1244)
  • heading integration protection in RC-event [#1174] (#1174)
  • waypoint API function naming cleanup [#1169] (#1169)
  • guidance: fix max bank angle limit
  • make the heading flight plan primitive usable [#1218] (#1218)
  • add simplified INDI (Incremental Nonlinear Dynamic Inversion) stabilization [#1207] (#1207)
  • stabilization quat_int: reduce integrator quantization error [#1205] (#1205)
  • fix arming with kill switch [#1125] (#1125)

Modules

  • allow conditions in module defines and update meteo_stick [#1092] (#1092)
  • rewrite nav_bungee_takeoff [#1074] (#1074)
  • add video_usb_logger for ARDrone2 [#1086] (#1086)
  • optic flow based hover for ARDrone2 [#1062] (#1062)
  • airspeed_ets: add 3rd party mode support [#1099] (#1099)
  • refactor logger modules [#1095] (#1095)
  • AHRS: convert AHRS infrared to a module [#1127] (#1127)
  • create_module: enforce lowercase file and dir and function names [#914] (#914)
  • add flight_recorder, log to SD card or uart, configure via telemetry.xml [#1114] (#1144)
  • air_data: take geoid separation into account when calculating QNH
  • air_data: use CAS/EAS for airspeed and send TAS in message [#1155] (#1155)
  • digital_cam: specify time in seconds [#1172] (#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] (#1168)
  • fix mission module for rotorcrafts

Simulation

  • NPS: add possibility to simulate loss of datalink/downlink [#1150] (#1150)
  • NPS: update FDM bindings to be compatible with latest JSBSim [#1118] (#1118)
  • remove jsbsim target (fully replaced by NPS) [#1123] (#1123)
  • build: don't add full path to NPS object files [#798] (#798)
  • NPS simulator: fix sensor simulation issues [#1131] (#1131) [#1132] (#1132)
  • NPS/FlightGear: add models for easystar (with ailerons) and Eternity [#1159] (#1159)
  • Updated FlightGear interface and removed obsolete HITL files [#1196] (#1196)
  • NPS: support gaia environment simulator [#1219] (#1219)

Linux arch support

  • rewrite of the linux video modules [#1094] (#1094) [#1143] (#1143)
  • change the sys timer to a multi threaded implementation [#1117] (#1117)
  • implement persistent settings [#1109] (#1109)
  • refactor UDP support [#1120] (#1120) [#1122] (#1122) [#1158] (#1158)
  • fix UART driver [#1110] (#1110)
  • sys_time: get time from CLOCK_MONOTONIC [#1128] (#1128)
  • I2C: use 8 bit I2C address scheme for all drivers [#1210] (#1210)
  • limit main loop to 1kHz to prevent 100% cpu usage due to event polling [#1240] (#1240)

other drivers/HW support

  • remove support for ARDrone2 SDK version [#1222] (#1222)
  • ARDrone2: add support for dynamic Ad-Hoc networking with OSLR [#1097] (#1097)
  • Parrot Bebop: support all sensors including sonar [#1149] (#1149) [#1182] (#1182)
  • boards: add support for CC3D
  • IMU: support for MPU9250 ins SPI mode [#1161] (#1161)
  • peripherals: ms5611 driver now also supports ms5607 (e.g. for Bebop) [#1147] (#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] (#1018)
  • peripherals: SD Card SPI interface [#1220] (#1220)

Paparazzi 5.4.2_stable

Maintenance release

  • GCS: fix undo for list of values [#1054] (#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] (#1118)
  • rotorcraft: fix attitude flight plan primitive [#1103] (#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] (#1046)
  • GCS: call index of first/single link "single" [#1098] (#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] (#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] (#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] (#878)
  • fixedwing: use min/max_cruise_throttle variables instead of defines [#1057] (#1057)
  • GCS: turn off search in flight plan panel to fix hotkeys [#995] (#995) [#1061] (#1061)
  • GCS: fixes for flight plan editor and keeping map center on zoom [#927] (#927) [#1059] (#1059)
  • stm32/luftboot: update libopencm3 to get usb control call back fix [#1058] (#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] (#1049)
  • replace BOOT message with AUTOPILOT_VERSION, show in GCS and add build version [#1050] (#1050)
  • GCS: fix green color after colormap changes on some new systems [#1051] (#1051) [#575] (#575)
  • settings: display ? for current value on undo [#1054] (#1054)
  • Add some more flexibility to conf and control_panel naming [#1055] (#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] (#1043) [#957] (#957)
  • fixedwing: airspeed tuning [#877] (#877)
  • linux: handle SIGINT for console debug [#1008] (#1008)
  • rotorcraft: always allow to switch to MODE_MANUAL via RC [#1036] (#1036)
  • flight plan: use flight plan position in nps for most example files
  • airframes: OBC example airframes [#1044] (#1044)
  • transitioning: fix transition offset handling [#1045] (#1045)

Paparazzi 5.3.1_testing

Second release candidate for v5.4 stable release.

  • modules: nav_survey_poly_osam improvements [#938] (#938)
  • ARDrone2: mag freeze detection [#1025] (#1025) [#1026] (#1026) [#1030] (#1030)
  • ARDrone2: remove unneeded last_checksum_wrong [#1032] (#1032)
  • rotorcraft: fix USE_KILL_SWITCH_FOR_MOTOR_ARMING [#1038] (#1038)
  • server: log LINK_REPORT message [#1031] (#1031)
  • stm32: partial Lisa MX luftboot support [#1017] (#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] (#830)
  • Paparazzi Center settings improvements [#834] (#834)
  • replay: ignore non-telemetry messages to remove warnings [#894] (#894)
  • maps: put google tiles in var/maps/Google instead of var/maps [#902] (#902)
  • Paparazzi Center: improve warning coloring [#910] (#910)
  • add INFO_MSG with printing to GCS console [#929] (#929)
  • Remove array delimiters on Ivy messages [#942] (#942)
  • improve test framework [#933] (#933) [#945] (#945)
  • GCS: save size in layout [#968] (#968)
  • link/GCS: improve datalink/telemetry report and display link page in GCS for single link [#999] (#999)
  • build: default to parallel make for aircrafts [#1002] (#1002)
  • select_conf.py fixes and also selects control_panel.xml [#1001] (#1001)
  • DFU flashing: CRC support and longer timeout for Krooz [#997] (#997) [#691] (#691)
  • messages: possibility to add descriptions [#987] (#987)
  • messages: mission modules use LLA waypoints in 1e7deg instead of float [#986] (#986)
  • GCS: alert/console window: always insert messages at the end [#996] (#996)
  • improve dependency handling for modules [#1007] (#1007)
  • Settings: display unconfirmed settins with "?" as current value [#1013] (#1023)
  • messages/plotter: improve drag-and-drop of fields from messages to realtime plotter [#1020] (#1020)

Simulation

  • OCaml sim: simulate sys_time [#962] (#962)
  • OCaml sim: use unconnected socket for flightgear viz [#915] (#915)
  • NPS: add commandline option to set time_factor
  • radio_conrol spektrum for sim target [#851] (#851)
  • OCaml sim: sliders in simulated RC always sensitive [#821] (#821)

Airborne

  • pass dt to ahrs/ins propagation [#818] (#818)
  • cleanup math lib and convert lots of macros to functions [#819] (#819)
  • radio_control spektrum also usable for intermcu [#847] (#847)
  • Replace telemetry macros with functions [#931] (#931) [#1027] (#1027)
  • arch: rename arch/omap to arch/linux [#982] (#982)
  • radio_control: cleanup channel defines and possibility to send less than available via intermcu [#975] (#975)
  • state interface: change computation order in stateCalcPositionLla_i [#1013] (#1013)
  • ARDrone2: Handle memory full FTP upload error [#967] (#967)
  • rotorcraft: force MODE_STARTUP instead of KILL until ahrs is aligned [#983] (#983)
  • rotorcraft: fix NavCircleCount()
  • rotorcraft: datalink: check ac_id of RC_4CH message
  • rotorcraft: allow to turn off motors in failsafe mode [#989] (#989)

Modules

  • Convert air_data subsystem to module with QNH and true airspeed support [#853] (#853)
  • add airspeed_ms45xx_i2c module [#852] (#852)
  • airspeed_ets, retry after failed transaction
  • add temperature adc module [#857] (#857)
  • clean up digital_cam, usable for rotorcrafts, show real photo coordinates in GCS [#936] (#936)
  • modules: add basic mavlink module [#1028] (#1028)
  • modules: improved video/images sending for ARDrone2 [#1021]: (#1021)

Drivers/HW support

  • stm32: usb_serial (CDC) impelmentation for transparent_usb telemetry [#998] (#998)
  • stm32: add usb_tunnel [#1014] (#1014)
  • Add Furuno NMEA based GPS [#959] (#959)
  • Driver for MPU9250 [#953] (#953)
  • Driver for AKM8963 magnetometer [#947] (#947)
  • linux: add basic I2C and SPI drivers [#961] (#961) [#979] (#979)
  • actuators: basic esc32 motor controller implementation via CAN for STM32F1 [#1004] (#1004)
  • basic support for new Parrot Bebop [#1003] (#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] (#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] (#831)
  • Rotorcraft: auto-enable UNLOCKED_HOME_MODE if HOME mode is used on RC [#823] (#823)
  • Rotorcraft: only go to HOME mode if in NAV [#850] (#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] (#848)
  • STM32: backport fix for using multiple ADs [#822] (#822)
  • LPC21: don't override T0CCR values when setting ppm and trig_ext
  • IMU driver for Lisa/M/MX 2.1 [#817] (#817)
  • support for HBmini board [#864] (#864)

Paparazzi 5.2.0_stable

Stable version release.

General

  • ocaml/link: fix uint32 parsing [#809] (#809)
  • modules: use VPATH to make it easier to load external modules [#760] (#760)
  • ground_segment: try to update AGL even if GPS is lost [#742] (#742)
  • ground_segment: different icons for the different applications of paparazzi [#787] (#787)
  • generators: fix generated longitude in 1e7deg on 32bit systems [#808] (#808)
  • lat/lon int in 1e7deg instead of 1e7rad [#810] (#810)
  • GCS: fix inaccurate waypoint updates [#762] (#762)
  • GCS: add exponentiation operator to papgets
  • logalizer: export lat/lon with 9 decimal places
  • GCS: display AP mode forward correctly [#748] (#748)
  • GCS: also center aircraft on uppercase C and fix listed keys in help [#803] (#803)
  • settings: add spin button widget for numeric input instead of sliders [#795] (#795)
  • tools: flash via bmp: reset and detach from target after uploading [#746] (#746)
  • tools: DFU flashing: allow 1 BIT SQUARED vendor [#778] (#778)
  • tools: add tcp_aircraft_server [#750] (#750)
  • tools: add tool to syncronize video on replay [#770] (#770) [#776] (#776) [#789] (#789)
  • messages: rename class to msg_class [#812] (#812)
  • messages: add GEO_MAG message to send magnetic field [#735] (#735)
  • messages: add speed setpoint to GUIDANCE_H_REF_INT message [#763] (#763)
  • NPS: block and setting messages only parsed for correct AC_ID [#777] (#777)
  • NPS: fix warnings when compiling with clang [#790] (#790)
  • gaia: command line options for environment simulator [#799] (#799)
  • build: only set PAPARAZZI_SRC if not already externally set [#800] (#800)

Airborne

  • fixedwing: correct altitude setpoint during NavGlide [#785] (#785)
  • flight plans: don't set nav_pitch to 0 at each stage init [#727] (#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] (#788)
  • modules: geo_mag: fixedwing compatibility [#806] (#806)
  • ardrone2: mag freeze fix [#767] (#767)
  • boards: add support for navstik [#744] (#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] (#758)
  • imu: aspirin_2_spi: wait 1.5s before configuring mag [#779] (#779)
  • imu: body_to_imu adjustable during runtime via settings [#783] (#783)
  • ahrs: int_cmpl_quat: fix rate integration range/resolution [#782] (#782)
  • ins: properly define INS_VFF_R_GPS [#741] (#741)
  • ins: allow define of VFF_R_SONAR_OF_M [#764] (#764)
  • electrical: min bat level check [#745] (#745)
  • electrical: fix for negative currents [#753] (#753)
  • electrical: 32bit for bat low and critical counters for longer delays [#805] (#805)
  • messages: dist_home and dist_wp in meters for fixedwings and rotorcrafts [#784] (#784)
  • superbitrf: save bind settings to flash (if USE_PERSISTENT_SETTINGS) [#792] (#792)

Rotorcraft Firmware

  • RC input: zero yaw command if throttle is zero [#737] (#737)
  • prevent motor arming in kill mode [#740] (#740)
  • change rotorcraft nav API to use points rather than wp id [#749] (#749)
  • use roll/pitch RC deadbands in attitude mode [#773] (#773)
  • route precision fix [#775] (#775)
  • guidance_v: limit z_ref in update_ref_from_zd_sp [#754] (#754)
  • mission module for rotorcrafts [#759] (#759)
  • guidance_v: only limit throttle if RC ok [#766] (#766)
  • navigation: fix waypoint initialization in ENU [#791] (#791)

STM32 architecture

  • fix I2C bitrate on F4 [#729] (#729)
  • fix sys_time_usleep [#739] (#739)
  • fix spektrum on F4 [#732] (#732)
  • timer frequency cleanup [#734] (#734)
  • split spektrum uart rx and config pin for Apogee [#733] (#733)
  • add suport for pwm input
  • fix reset for I2C3 [#751] (#751)
  • simplify actuators_pwm [#757] (#757)
  • boards: add files for Lisa/M and Lisa/MX v2.1 [#813] ((#813)
  • spektrum: configure the bind pin to be pullup/pulldown [#814] (#814)

Paparazzi 5.1.1_testing

Second release candidate for v5.2 stable release.

General

  • GCS: higher default maps zoom level [#725] (#725)
  • Allow settings/modules/flightplans outside the conf dir [#723] (#723)
  • optitrack: Give feedback about following drones and fix gps [#718] (#718)
  • dfu-util: only attempt verify for version >= 0.7 [#697] (#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] (#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] (#706)
  • bmp085 peripheral: Fix calibration reading with errors

Simulation

  • NPS: simulate sonar sensor [#720] (#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] (#724)
  • fix reference in hover with USE_SPEED_REF, set DEFAULT_CIRCLE_RADIUS to 5m [#716] (#716) [#717] (#717)
  • implement approaching_time for "go" flight plan primitve [#715] (#715)

Fixedwing firmware

  • stabilization adaptive: loiter correction and reference generator update [#711] (#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] (#700)

Paparazzi 5.1.0_testing

First release candidate for next stable release.

General

  • lots of cleanup
  • GCS: higher max zoom level [#632] (#632)
  • GCS: different aircraft icons (added flying wing, quadrotor)
  • GCS: proper GPSd home icon resizing [#601] (#601)
  • GUI for selecting the desired active list of airframes (select_conf.py) [#536] (#536)
  • paparazzi center: flash mode selection via drop down menu [#597] (#597)
  • add support for new telemetry types [#589] (#589)
  • build aircraft firmware in var/aircrafts/'ac_name' [#601] (#601)
  • parallel build of firmwares with J=AUTO [#683] (#683)
  • add simple verify to flashing via dfu-util [#673] (#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] (#679)

Simulation

  • simulate datalink loss [#631] (#631)
  • FlightGear viz: daytime everywhere [#555] (#555)

Hardware support

  • remove sys_plugs for STM32, finally dropping old toolchain support [#688] (#688)
  • Support for all 3 ADCs of F4 [#551] (#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] (#515)
  • I2C watchdog for STM32 [#662] (#662)
  • Dual PWM servo driver [#678] (#678)
  • SBus radio control driver (single and dual receivers) [#485] (#485) [#674] (#674) [#693] (#693)

Airborne

  • API function to periodically send telemetry messages: register_periodic_telemetry [#472] (#472)
  • generic gpio interface [#498] (#498) [#651] (#651)
  • gps_ubx_ucenter module improvements [#646] (#646) [#653] (#653)
  • HOTT telemetry module added [#591] (#591)
  • GPS subsystem to stream external position data to the vehicle over UDP [#630] (#630)
  • INS reset/realign API updates [#644] (#644)
  • INS alt_float: remove ALT_KALMAN_ENABLED [#594] (#594)
  • IIR filter for horizontal position Kalman Filter [#677] (#677)
  • barometer interface via ABI [#525] (#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] (#654)
  • AHRS int_cmpl_quat frequency scaling [#371] (#371)

Rotorcraft firmware

  • AR Drone 2 updates [#626] (#626) [#598] (#598)
  • guidance improvements [#539] (#539) [#546] (#546)
  • horizontal guidance: dynamically adjustable max_speed [#664] (#664)
  • adaptive thrust estimation limits [#495] (#495)
  • improve in_flight detection heuristic [#469] (#469)
  • stabilization quaternion: fix scale of angle in 2nd order model [#664] (#663)
  • HITL using reference position to fake GPS [#640] (#640)
  • add a HOME mode [#562] (#562)
  • nav: split waypoint proximity check from time spend at waypoint [#690] (#690)

Fixedwing firmware

  • alt_float: remove ALT_KALMAN_ENABLED [#594] (#594)
  • extra navigation routines as modules [#512] (#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] (#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] (#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] (#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] (#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] (#467)
  • ARDrone2: GPS satellite informaton [#474] (#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] (#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] (#220)
  • Option to change text papget color using a combobox [#194] (#194)
  • Redundant communications [#429] (#429)
  • Log also contains includes like procedures now, so replay if these missions is possible. [#227] (#227)
  • Paparazzi Center
    • New simulation launcher with dialog and detection of available ones. [#354] (#354)
    • Checkbox to print extra configuration information during build.
  • GCS:
    • Fix panning with mouse if there are no background tiles. [#9] (#9)
    • Higher zoom level for maps. [#277] (#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] (#167)
  • Mikrokopter V2 BLDC [#377] (#377)
  • PX4Flow sensor [#379] (#379)
  • Dropped AVR support

Airborne

  • State interface with automatic coordinate transformations [#237] (#237)
  • New AHRS filter: Multiplicative quaternion linearized Kalman Filter
  • New SPI driver with transaction queues.
    • Fix transactions with zero length input. [#348] (#348)
  • Peripherals: Cleanup and refactoring.
    • MPU60x0 peripheral supporting SPI and I2C with slave.
  • UDP datalink.
  • Magnetometer current offset calibration. [#346] (#346)
  • Gain scheduling module. [#335] (#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] (#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] (#441)
  • add yaw trim [#444] (#444)
  • add XSens Mti-G 700 support [#443] (#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] (#297)
  • Separate Board Files for yapa_v2.0 [#303] (#303)
  • Add UART hardware flow control (for STM32 only) [#289] (#289)
  • Add ezosd current sensor module [#292] (#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] (#299)
  • Outback Challenge "Safety" Rules 1 and 2
  • Added WMM2010 Geo model used in ahrs int_cmpl_quat for rotorcrafts [#288] (#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] (#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] (#251)
  • PPM input on UART1 RX for Lisa/M autopilots
  • Rate Limiter for Flaps, Gears and servo hatches [#252] (#252)
  • GPS acceleration compensation in ahrs_float_dcm [#255] (#255)
  • Improved gravity heuristic for int_cmpl_quat
  • Some updates on digital_cam and photogrammetry modules [#250] (#250)
  • Replace wget by OCaml Http_client from netclient lib to download files [#276] (#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] (#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] (#118)
  • Documentation node for modules [#182] (#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] (#231)
  • Usability improvements for calibration scripts and added 3D view of magnetometer data with fitted ellipsoid

New hardware support

Airborne

  • All control gains are now positive [#127] (#127)
  • RC input follows sign conventions [#124] (#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] (#88)
    • open_log [#82] (#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] (#120)

Rotorcraft firmware specific

  • Stabilization/supervision commands with standard PPRZ range [#169] (#169)
  • Additional motor arming options [#174] (#174)
  • Replaced INV_M with NOMINAL_HOVER_THROTTLE (in %) To use a fixed value instead of the adaptive vertical filter [#177] (#177)
  • Some fixes when changing vertical guidance modes
  • Same behaviour (gains) for AP_MODE_HOVER and NAV when holding position [#82] (#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] (#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] (#222)
    • Radio control via joystick now uses SDL (so works on OSX as well) [#232] (#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] (#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"/>