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@bitcraze-ci bitcraze-ci released this Jan 28, 2021 · 82 commits to master since this release

This release contains:

  • an extended and improved app API. Log data and parameters can now be accessed from an app and various functions have been adapted to be easy to use from an app.
  • Collision avoidance functionality has been added.
  • A persistent storage subsystem has been added to store data in the crazyflie. Initially it is used for lighthouse calibration and geometry data, but will be useful in the future for configuration data in the Bolt for instance.
  • Improved support for Lighthouse V2 has been added.
  • Various bug fixes and stability improvements.

Closed issues/pull requests

#506 Kalman filter supervisor floods downlink with messages
#619 Fix typo in config.mk.example comment
#621 Upgrade to latest FreeRTOS
#622 Led sequence run and stop functions should not block
#625 Add IDLE thrust for brushless motors
#627 Add UART function to get with configurable timeout
#628 Collision avoidance
#629 Update the LED sequence API to enable apps to run sequences
#630 Allow setting param variable from within the firmware (ie. For apps)
#632 Add an API that mirrors the high level commander API in the python lib.
#633 Add functions to write geometry and calibration data to the lighthouse modules from an app
#634 Add demo app
#635 assert in kalman estimator with lighthouse
#636 Refactor the memory sub system
#638 Add OneShot42 support for brushless motors
#639 Add .PHONY target to makefile
#641 Add memory mapping for lighthouse calibration data
#642 Implement persistent storage subsystem
#643 matrix data used in ARM optimized functions must be aligned on 4 byte boundaries
#644 Failed asserts in apps do not reset the Crazyflie
#645 Update lighthouse geometry memory mapping
#646 Add support for memory mappings in apps
#647 Clean up internal log API and added app example
#648 Added crtpCommanderHighLevelIsTrajectoryDefined()
#649 Add functionality to persist lighthouse geometry and calibration data
#650 Add crtp packet to send LH basestation angles
#651 Added takeoff/land with average velocity commands to public API of the HL commander
#652 Clean up API app
#653 hardcoding basestation geometry is deleted somewhere after
#654 Quaternion component naming inconsistency
#657 added isCharging(), isBatteryLow() and isChargerConnected() to PM API
#658 added feature to trigger bright flashes on the LED ring to identify a drone in a swarm
#659 disable MISC_VALUE_UPDATED CRTP messages on-demand with a compile-time switch
#661 Update toolchain documentation for Ubuntu 20.04 and 20.10
#662 Add real-time communication channel over CRTP for apps
#663 Add config for Loco deck reset pin
#666 docs: fix simple typo, communicaton -> communication
#668 Use Github actions for CI
#669 Queued meassurements not always handled in kalman filter
#671 sensfusion6: Rename quaternion components for clarity.

Contributors

CloudyPadmal
Danmark
FreddieOliveira
Hoverbear
JGSuw
NicksonYap
Oxydation
Sascha274
TimKam
WoNd3RBoY
Zhenghao-Dai
acecilia
aholler
andre-paraense
aswild
ataffanel
carlin-psvl
cbiffle
chronoB
danieldennett
dbrgn
dolfje
erwincoumans
estromb
evoggy
fbobrow
fredg02
fredgrat
guglie
itsmnjn
jpreiss
jsgf
jungr-ait
kant
khant14
knmcguire
krasin
krichardsson
lgenzelis
lkumar93
markhermeling
markhermelinggt
mgreiff
mikehamer
ntamas
ograff
omwdunkley
opsound
pablogs9
s9meboeh
sdalu
stephanbro
theseankelly
timgates42
tobbeanton
tomfelker
volmen3
whoenig

Assets 6

@bitcraze-ci bitcraze-ci released this Sep 2, 2020 · 218 commits to master since this release

The main features of this release are general stability improvements, Flow and LPS decks now work together and some LPS improvements.

Closed issues/pull requests

#336 Use of digitalRead on STM Pin instead of Deck Pin
#368 Flow deck and Loco deck in TWR mode makes Loco deck hang
#436 LPS deck stops working in the system test rig
#488 Enable API for parameter values from the firmware
#523 Problems in kalman estimator using LPS and Flow deck at the same time
#541 Add functionality to set LPS TX power
#591 Sensors on Lighthouse deck not always initialized
#596 #595 Add ledMode to view valid lighthouse angles
#598 fixes #597: Add ledmode to support an uploaded light track
#600 Change last python(2) reference to python3
#604 Unaligned memory access from packed structs warning in GCC 9.3
#607 Convert docs to github compliant format
#608 Improving kalman implementation flowdeck
#609 Add app layer examples to repository
#612 Update to latest version of DWM1000 library
#613 LD error: multiple definition of sinRoll when using gcc 10.2

Contributors

CloudyPadmal
Danmark
FreddieOliveira
Hoverbear
JGSuw
NicksonYap
Oxydation
Sascha274
TimKam
WoNd3RBoY
Zhenghao-Dai
acecilia
aholler
andre-paraense
aswild
ataffanel
carlin-psvl
cbiffle
chronoB
danieldennett
dbrgn
dolfje
erwincoumans
estromb
evoggy
fbobrow
fredg02
fredgrat
guglie
itsmnjn
jpreiss
jsgf
jungr-ait
kant
khant14
knmcguire
krasin
krichardsson
lgenzelis
lkumar93
markhermeling
markhermelinggt
mgreiff
mikehamer
ntamas
ograff
omwdunkley
opsound
pablogs9
s9meboeh
sdalu
stephanbro
theseankelly
tobbeanton
tomfelker
volmen3
whoenig

Assets 6

@bitcraze-ci bitcraze-ci released this Jun 10, 2020 · 283 commits to master since this release

The main features of this release is the basic support for the AI-deck and the introduction of the CCM (Core Coupled Memory) that made more RAM available.

Closed issues/pull requests

#546 CCM RAM more accessible
#574 add peer_localization to store the position of other crazyflies
#581 break stabilizer_types dependency on ARM
#582 Explain how to set up a debug environment in VS Code
#583 traj_eval_zero() in pptraj
#589 Add script to reboot a crazyflie remotely

Contributors

CloudyPadmal
Danmark
FreddieOliveira
Hoverbear
JGSuw
NicksonYap
Oxydation
Sascha274
TimKam
WoNd3RBoY
Zhenghao-Dai
acecilia
aholler
andre-paraense
aswild
ataffanel
carlin-psvl
cbiffle
chronoB
danieldennett
dbrgn
erwincoumans
estromb
evoggy
fbobrow
fredg02
fredgrat
guglie
itsmnjn
jpreiss
jsgf
jungr-ait
kant
khant14
knmcguire
krasin
krichardsson
lgenzelis
lkumar93
markhermeling
markhermelinggt
mgreiff
mikehamer
ntamas
ograff
omwdunkley
opsound
pablogs9
s9meboeh
sdalu
stephanbro
theseankelly
tobbeanton
tomfelker
volmen3
whoenig

Assets 6

@bitcraze-ci bitcraze-ci released this Apr 30, 2020 · 321 commits to master since this release

Closed issues/pull requests

#514 sd logging file name not showing on console properly
#536 Unable to execute high-level commands immediately after low-level commands have been sent
#543 Add deck-driver for AI-deck
#548 Improve ASSERT error handling and reporting
#549 Optimize TDoA outlier filter for TDoA2
#550 rm motorsDisable(); switch to powerStop() instead.
#553 drop Python 2.x requirement for building as the scripts work fine with Python 3.x
#554 fix log types of motorPower.m[1-4]
#556 Use the TDoA engine for TDoA2
#557 copy latest version of jpreiss/cmath3d
#558 uart link
#560 #536 ability to enable high-level commands after low-level commands
#561 Memory issue of the micro SDcard deck
#562 Add functionality to find Lighthouse base station positions using the Lighthouse deck
#565 Improve documentation
#566 Use V4 of lighthouse FPGA binary
#568 Incremental Nonlinear Dynamic Inversion (INDI) position controller for the Crazyflie
#571 Doc for creating a new system task
#575 No self test of the BMI088 is implemented.

Contributors

CloudyPadmal
Danmark
FreddieOliveira
Hoverbear
JGSuw
NicksonYap
Oxydation
Sascha274
TimKam
WoNd3RBoY
acecilia
aholler
andre-paraense
aswild
ataffanel
carlin-psvl
cbiffle
danieldennett
dbrgn
erwincoumans
estromb
evoggy
fbobrow
fredg02
fredgrat
guglie
jpreiss
jsgf
jungr-ait
kant
khant14
knmcguire
krasin
krichardsson
lgenzelis
lkumar93
markhermeling
markhermelinggt
mgreiff
mikehamer
ntamas
ograff
omwdunkley
opsound
pablogs9
s9meboeh
sdalu
stephanbro
theseankelly
tobbeanton
tomfelker
volmen3
whoenig

Assets 6

@bitcraze-ci bitcraze-ci released this Feb 4, 2020 · 408 commits to master since this release

Added basic app layer and P2P communication support. Improved Lighthouse positioning, bug fixes and architectural improvements.

Closed issues/pull requests

#307 the zRangerReadRange adds a hard-dependency between one deck and the core Crazyflie firmware
#461 Add support for positioning using only one Lighthouse base station
#476 Push ranges measurement to EKF from range.c module
#477 Add LED-ring effect to show status of localization service.
#478 Refactor planner to avoid global static members
#479 Lighthouse frames not decoded if slave basestation is blocked
#481 Improved Tumble Detection and Handling
#482 Avoid compilation error on newer toolchains (2019-q3).
#484 send/receive broadcast P2P radio packets
#485 Allow out of tree build of the Crazyflie firmware
#487 Add 'app' entry-point to make it easy to implement custom onboard control code
#489 Use Crazyflie coordinate system for Lighthouse geometry data
#490 Measure and use YAW with Lighthouse positioning
#491 Update types for parameters in i2cdrvCreateMessage and i2cdrvCreateMe…
#492 Uninitialized variable in skip_to_next
#493 Buffer underrun in spineffect2
#494 Buffer overrun in enumerateDecks
#495 Extract kalman filter into separate task
#496 Use mutex in locodeck.c
#501 xQueuePeek with third parameter '0' does not initialize the 2nd param…
#504 Added compressed trajectory format
#507 Add support for rate log
#508 FreeRTOS upstream v10.2.1
#509 Use static memory for tasks, queues and other OS objects
#510 Feature/freertos thirdparty
#513 Heap management options
#515 Hotfix: Added crosscompile prefix to math library
#517 Lighthouse geometry data is not recalculated when set through memory sub system
#518 Add production test support for the Active marker deck
#521 stabilizer.thrust is a float so it should be logged as a float
#524 Compiler Error in outlierFilter.c
#531 Drone fails mid-air on second run
#532 Modify yaw behaviour of high level commander for take off and landing
#533 Bad behaviour in PID controller when yaw > 2pi
#535 USB connection causing crash

Contributors

CloudyPadmal
Danmark
FreddieOliveira
Hoverbear
JGSuw
NicksonYap
Oxydation
Sascha274
TimKam
WoNd3RBoY
acecilia
aholler
andre-paraense
aswild
ataffanel
carlin-psvl
cbiffle
danieldennett
dbrgn
erwincoumans
estromb
evoggy
fbobrow
fredg02
fredgrat
guglie
jpreiss
jsgf
jungr-ait
kant
khant14
knmcguire
krasin
krichardsson
lgenzelis
lkumar93
markhermeling
markhermelinggt
mgreiff
mikehamer
ntamas
ograff
omwdunkley
opsound
pablogs9
sdalu
stephanbro
theseankelly
tobbeanton
tomfelker
whoenig

Assets 6

@bitcraze-ci bitcraze-ci released this Sep 26, 2019 · 553 commits to master since this release

  • Added support for Crazyflie Bolt
  • Improved support for external positioning systems
  • Basic support for the Lighthouse positioning system
  • Added support for the Active marker deck
  • Improved debug support
  • Improved uSD card logging functionality
  • Bug fixes

Closed issues/pull requests

#203 Packet for externally measured position and orientation
#216 Mixed line endings appearing in new commits.
#246 Implement full pose measurement in EKF
#290 Automatic LPS mode detection should not transmit in TDoA mode
#320 Crash in the Kalman filter
#364 Charging LED pattern not shown at startup
#377 Version reporting in the console is malfunctioning
#388 Deck UART2 is lacking RX functions
#390 Improve deck initialization information in the console
#393 Crash when USB connection is terminated
#394 Fail to connect via USB and get logs multiple times
#395 Fixed typos on string #138 & 143
#397 Implement lighthouse bootloader
#401 Add scripts to configure lighthouse system
#402 Kalman filter starts at (X, Y) = (0.5, 0.5)
#403 Decoupling the TDoA ranging system.
#404 Fixed typo in TDoA outlier filter function
#405 Uart1 and Uart2 are broken due to initialization without baudrate.
#406 Option to choose orientation of drone at calibration
#407 high level commander zero divide check
#408 Simplify logic for external position information.
#409 CF not responding to high-level commands after commit b2f01ff
#410 Update readme for Ubuntu 18.04
#411 Add getDeviceTypeName to platform service.
#412 uSD: Allow comments in config.txt
#413 Add status messages in stabilizer for sensor calibration
#414 uSD card: Add synchronous logging mode.
#415 Fixes a bug for extPos msg introduced in PR408.
#416 Add pycache to .gitignore
#417 Planner: Add check to avoid division by 0 for goTo commands.
#419 Add support for DEBUG_PRINT using SEGGER RTT
#420 Add logging variables for compressed state and setpoint.
#421 Update math3d library to the latest version.
#423 Clean up UART drivers
#425 accBiasFound to be renamed to accScaleFound
#427 Provide a way to set Lighthouse base station geometry remotely
#429 Log variables mixed up for the lighthouse
#431 Lighthouse deck stuck if bad firmware is flashed
#432 support %c in eprintf
#433 Add basic support for a multi device automated test rig
#438 Support to read latest logging file from uSD card over radio
#439 No deck init parameter for lighthouse deck
#441 Fixes #418: compilation error due to isspace() in usddeck.c
#444 get_bs_position.py errors out in Python 3.7
#445 Implement full pose measurement in EKF.
#447 Moving documentation from the wiki to crazyflie-firmware repository
#448 Add log variable to read motor test results
#449 Fix issue in locSrv that can cause incorrect decoding of external
#450 Fix compressState acceleration values to be mm/s^2.
#451 Add support to control the yaw angle (and not only rate).
#457 fix compilation of unit tests on macOS
#458 Add supervisor for the kalman estimator
#464 Add support for the Active marker deck
#466 LED RSSI - turns white if disconnected (1 sec timeout)
#467 get_bs_position - fix decode("utf-8")
#471 Extensive console logging causes crash when connecting
#472 Add platform support for Crazyflie Bolt
#473 Z-ranger2 uses kalman filter but recently added reset of this can cause it to become unstable.
#475 Look like copy and waste error in USE_MA_SMOOTHING of flowdeck code

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
guglie
jpreiss
jsgf
jungr-ait
kant
khant14
knmcguire
krasin
krichardsson
lgenzelis
lkumar93
mgreiff
mikehamer
ntamas
ograff
omwdunkley
opsound
sdalu
stephanbro
theseankelly
tobbeanton
tomfelker
whoenig

Assets 6

@bitcraze-ci bitcraze-ci released this Feb 6, 2019 · 700 commits to master since this release

Added support for the tag platform.

Closed issues/pull requests

#386 feat: AMG8833 Thermal Camera

Which binary to use?

Use the cf2 binary for Crazyflie 2.X and the tag binary for the Roadrunner.

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

Assets 6

@ataffanel ataffanel released this Jan 15, 2019 · 705 commits to master since this release

Bugfix release that sets the default radio datarate to 2M

Closed issues/pull requests

#387 Change default radio bitrate to 2M

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

Assets 4

@krichardsson krichardsson released this Dec 12, 2018 · 709 commits to master since this release

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

Assets 6

@krichardsson krichardsson released this Oct 17, 2018 · 750 commits to master since this release

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

Assets 4