Assets 6

Main features

  • Support for multiple hardware platforms
  • Basic support for the Lighthouse deck
  • Reduced binary size for faster flashing

Closed issues/pull requests

#378 Reduce size of binary
#379 Add support for multiple hardware platforms
#381 Do not fail multi-ranger deck test when calling multiple times
#382 Implement support for more than one Lighthouse receiver
#384 Add production test support for the Lighthouse deck

Contributors

CloudyPadmal
Danmark
FreddieOliveira
Hoverbear
JGSuw
NicksonYap
Oxydation
Sascha274
TimKam
WoNd3RBoY
acecilia
aholler
aswild
ataffanel
carlin-psvl
cbiffle
dbrgn
erwincoumans
estromb
evoggy
fbobrow
fredg02
fredgrat
jpreiss
jsgf
jsschell
khant14
krasin
krichardsson
lgenzelis
lkumar93
mgreiff
mikehamer
ograff
omwdunkley
opsound
sdalu
stephanbro
theseankelly
tobbeanton
tomfelker
whoenig

@krichardsson krichardsson released this Oct 17, 2018 · 41 commits to master since this release

Assets 4

Main features

  • Added TDoA3 mode for the LPS
  • Support for Z-Ranger V2 deck
  • Support for Flow V2 deck
  • Support for Multiranger deck
  • Support for Bosch BMI088 sensor
  • Support for up to 64K parameter and log variables
  • Crazyswarm support
    • High-level commander
    • Mellinger controller
  • General improvement and bug fixes

Closed issues/pull requests

#190 Improve EKF alt-hold with VL53 sensor
#231 PM_BAT_CRITICAL_LOW_TIMEOUT is wrongly defined in pm.h
#256 Wrong display of large hexa string (serial number)
#284 Add a nonlinear trajectory tracking controller.
#285 Windows build not working
#286 Build error
#287 Fix error checking for log/param var lengths
#288 ctrlMellinger: Handling of commander timeout
#289 Use static functions
#293 High-Level Commander Design
#294 Improved debugger support
#295 Fix HardFault in Logging
#296 Define two communication channels devoted to GNSS (GPS) communications.
#297 Add position setpoint
#298 Add log variable to be able to synchronize Crazyflie and LPS TDoA system
#299 Add High-Level Commander, see #293
#300 Add parameters to initialize the kalman filter pos
#302 Add VL53L1 support to Multiranger
#303 High-level commander: trajectory upload and exec.
#304 Zranger driver: 'xTaskGetTickCount' should be outside of the loop with 'vTaskDelayUntil'
#308 HighLevelCmd: Add missing shift for traj. eval
#309 HighLevelCmd:Broadcast support for startTrajectory
#310 LocSrv: Add EXT_POS_PACKED CRTP packet
#311 README: Fix typos
#312 Add statistics to the CRTP module
#313 Number of Logging variables limited to 256
#314 printf with long don't process arguments correctly
#315 Implement LPS TDoA 3
#317 Implement deck drivers for Flow v2 and Z-ranger v2 (VL53L1)
#318 System load dump not working
#319 Remove clean from compile
#321 attitude pid reset copy/paste bug
#322 The protocol type is not checked in TDoA 2
#323 Pushing dangling pointer to the kalman queue
#324 Add option to dynamically change estimator using "stabilizer.estimator" parameter
#325 Add option to switch controllers dynamically
#326 Generalize logging to uSD card
#327 Upgrade to latest version of the DW1000 lib
#328 Clock correction tests
#329 Implement fading color effect for led ring deck
#331 Add log of battery level in percent
#332 Update config.mk folder location in README.md
#334 Build error for controller with mellinger
#335 Controller mellinger yaw direction reversed
#337 Allow more than 256 logging vars/parameters
#338 Manual flight: same yaw rate for PID and Mellinger
#339 Fix copy&paste error for attitute pid reset
#340 Fail to compile Arch Linux
#342 Crazyflie crashing when sending external position if Kalman filter is not enabled
#343 Fix IGNORE_OW_DECK compile flag
#344 Is TDOA3 module test working now?
#345 Add support for BMI088/BMP388 sensors
#346 Useful stuff for your consideration :)
#347 Fixed wrong assertions
#348 TDoA 2D position Z dependent of orientation
#351 HLCmd: Avoid setpoint discontinuities
#352 Compiler error with newer compiler
#353 Remove max,min,isnan macros in favor of built-ins
#354 Use new version of lib dw1000
#356 Update DW1000 lib to latest version
#357 Switch to extracted clock correction module in TDoA3
#358 Randomize which anchor to use in TDoA calculations
#359 Add unit tests for tdoa3
#360 Implement SPI driver for BMI088
#361 Remove lock for negative Z position in kalman filter
#362 Separate LPS algorithm implementations from locoDeck driver
#363 Make it possible to switch to TDoA3 in runtime
#366 Add support for TDoA 3 memory mapping
#367 uart1 deck driver freezes in case of Overrun error
#369 SYS: Assert failed at src/modules/src/estimator_kalman.c:857
#370 Implement propeller test functionality
#372 Increase number of tasks handled by the sysload module
#374 zranger V1 not returning readings on log variable
#375 Improve the outlier detector for TDoA
#376 Add support for zranger2

Contributors

Danmark
FreddieOliveira
Hoverbear
JGSuw
NicksonYap
Oxydation
Sascha274
TimKam
WoNd3RBoY
acecilia
aholler
aswild
ataffanel
carlin-psvl
cbiffle
cstanke
dbrgn
erwincoumans
estromb
evoggy
fbobrow
fredg02
fredgrat
jpreiss
jsgf
jsschell
khant14
krasin
krichardsson
lgenzelis
lkumar93
mgreiff
mikehamer
ograff
omwdunkley
opsound
sdalu
stephanbro
theseankelly
tobbeanton
tomfelker
whoenig

@krichardsson krichardsson released this Jan 23, 2018 · 228 commits to master since this release

Assets 4

This release contains support for the Loco Positioning System TDoA mode and the possibility of positioning many Crayzflies simultaneously. It also contains improvements for the Flow Deck and initial support for the Multi-ranger Deck.

Compatibility

This release is compatible with the Crazyflie 2.0 but not Crazyflie 1.0.

Closed issues/pull requests

#238 The new auto-switch of sensor fusion filter breaks Bosch board.
#239 Enhance flow rotation compensation
#240 Fusion filter auto-switching broke BigQuad functionality
#241 Question about i2c communication between crazyflie 2.0 and other chips
#242 Update and merge back LPS TWR-TDMA code
#243 Add possibility to set LPS TWR-TDMA slot from copter address
#244 Warning while making
#248 Enable crash/tumbled detection for flow deck
#249 End of Crazyflie 1.0 compatibility
#251 Implement support for "TDoA 2.0"
#253 Implement support for multiple VL53L0x
#254 Implement deck driver for the Obstacle Avoidance prototype deck
#255 Fix startup freeze when VL53 sensor is not connected
#262 Make data static in zranger
#264 Undefined reference to uwbTdoaTagAlgorithm in locodeck.c:161 when compiling with LPS_TDOA_ENABLE=1
#265 Add support for "Anchor ranging status" in TDoA mode
#266 Add parameter with the Loco Positioning mode
#277 Add outlier detection and removal to the TDoA code

Contributors

Danmark
Hoverbear
JGSuw
Oxydation
Sascha274
WoNd3RBoY
aholler
aswild
ataffanel
carlin-psvl
cbiffle
cstanke
dbrgn
erwincoumans
estromb
evoggy
fbobrow
fredg02
fredgrat
jpreiss
jsgf
jsschell
khant14
krasin
krichardsson
lgenzelis
lkumar93
mgreiff
mikehamer
ograff
omwdunkley
opsound
stephanbro
theseankelly
tobbeanton
tomfelker
whoenig

Jan 17, 2018
Fixes #280: Fix auto-mode LPS scann after a mode was found

@tobbeanton tobbeanton released this Jun 29, 2017 · 321 commits to master since this release

Assets 6

Release notes

  • Automatic switching of estimator. No special KALMAN version needed for the LPS anymore.
  • Support for the flow deck.
  • Support for multiple deck SPI clients

This is the last release with support for the Crazyflie 1.

Closed issues/pull requests

#226 Add E-Stop support and packet
#234 Implement support for flow deck to achieve 'hover mode'
#236 Implement automatic switching of estimator

@evoggy evoggy released this May 29, 2017 · 342 commits to master since this release

Assets 7

This release improves support for Loco positioning, uSD card and emergency stop.

The release also contains pre-built binaries with the Kalman filter needed for flying with the Loco positioning system.

@krichardsson krichardsson released this Apr 21, 2017 · 373 commits to master since this release

Assets 5

Release notes

  • Support for Z-ranger deck
  • Support for Bosch sensors deck
  • Support for the Loco Positioning deck
  • Position and altitude estimation and control improvements
  • Debug utility to display task CPU usage

Closed issues/pull requests

#113 New commander packet
#144 Master.mag driver fixes
#145 [WIP] Baro driver slave configuration
#147 Master.crtp position update
#149 Temperature reading from LPS25H is wrong
#150 Broadcast support
#151 Accelerometer Filtering
#152 Failing LPS25H temperature self reading
#153 Added full kinematics for the not flying case
#156 VL53L0X Time of Flight Sensor Driver
#157 README: Add build instructions for Windows
#158 Velocity Controller and Additional Filtering
#159 Log additional variables and fix a bug
#161 Pid update
#162 Fix the state update in the prediction step of the EKF
#163 Change API of kalman tdoa estimator
#164 Micro-SD and GT-GPS deck has same deck PID=7
#165 Rework LPS TDOA implementation to use previous message from an anchor as reference
#166 Improve outlier detection in LPS TDOA
#167 Kalman instable when pushing distance difference
#170 Altitude hold not working
#171 Launch cfloader from python install
#172 Allow velocity only modes and remove const modifier to setpoint in th…
#173 Integrate the v53l0x ranging with the EKF
#174 Add measurement update with elevation laser ranging in the EKF
#175 Prevent double promotion
#176 Add debug utility to display CPU usage for each task
#177 Implement Bosch sensor deck support
#179 Build error
#182 EKF crashing when flying with VL53 sensor only
#185 Commander inputs feel delayed/sluggish/strange on latest built firmware (complementary filter)
#188 The Loco Positioning deck is not ranging properly
#192 Bug in param TOC CRC calculation
#193 Update anchor handling
#196 Add Localization generic packet format and LPS range report packet
#197 Add support for tunneling short data packet from CRTP to the LPS
#198 Add functionality to transfer anchor position from the Crazyflie to a client
#199 Receive anchor position from the TWR system
#202 Update VL53 driver for production OW memory content
#207 Building with LTO=1 is broken
#210 LPS: Enable DW1000 "Smart Power" to increase range
#211 Add zrange support
#219 Increase maxium amount of log block

@krichardsson krichardsson released this Sep 8, 2016 · 639 commits to master since this release

Assets 6

Release Notes

  • Architecture updated to support on-board position awareness
  • Added functionality for the Loco Positioning system
  • Rewrites of low level code to improve stability

Closed issues/pull requests

#143 Improve PID tuning on CF2
#141 Crazyflie takes a very long time to lock IMU
#72 Crazyflie 2.0 crashes when connected with USB
#46 Add CMSIS-DSP to the firmware project
#102 Refactor stabilization code
#142 ST CPAL I2C driver is bulky and unreliable
#138 Gyro log missing
#133 Rate mode doesn't work
#105 Watchdog suspicious reset on CF 1.0
#123 Fixed I2C delay
#126 Fixed semaphore logic in uart_syslink.c
#122 Fixed crtpRxTask bug on nopLink
#125 Adding interrupt-driven sensors task
#121 Fixed syslink unhandled overrun
#120 correct maximum payload for logging size
#118 Fixed I2C contention timeout bugs
#117 Crazyflie2
#116 fix small spelling issues in commander
#114 Allow custom arguments for the cload script.
#115 Adding a parameter to make tilt compensation configurable.
#106 Make tilt compensated thrust configurable
#112 Altitude hold doesn't work
#110 Implement 3D PID position controller
#111 Add biq quad deck CFLAGS example
#109 CPPM decoding doesn't work
#108 Add gdb target for make
#107 revive microsecond timer
#80 The code does not build cleanly with some defines enabled
#101 Refactor stabilizer.c
#97 Add unit test framework
#103 Makefile: add OPENOCD_CMD variable for improved support of other open…
#104 Added a snippet from Richard Wagner 'Ride of the Valkyries'
#98 Improve altitude hold
#100 Add thrust compensation when copter is tilted
#92 The firmware version is not reported correctly
#96 Move the source code into a src dir

Sep 8, 2016