Stable version release.
- 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)
- 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)
- 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)
- 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)
Second release candidate for v5.2 stable release.
- 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
- 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
- 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.
- 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)
- 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)
First release candidate for next stable release.
- 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)
- 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)
- 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)
- 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)
- alt_float: remove ALT_KALMAN_ENABLED [#594] (#594)
- extra navigation routines as modules [#512] (#512)
- NavSetAltitudeReferenceHere added
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
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
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
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)
Maintenance release
- 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: 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
- NPS: explicitly add pcre lib
- NPS: make radio_control tpye datalink work
- don't try to use ADC_CHANNEL_CURRENT in SITL
- 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
Stable version release
- 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:
- 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
- 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)
- Quadshot transitioning vehicle support.
- Care Free Mode
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)
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
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)
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
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)
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
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
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)
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
Changes since old_master tag
- 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
- Support for new autopilot boards
- [Umarim] (http://paparazzi.enac.fr/wiki/Umarim_v10)
- [Umarim Lite] (http://paparazzi.enac.fr/wiki/Umarim_Lite_v2)
- [NavGo] (http://paparazzi.enac.fr/wiki/NavGo_v3)
- [Lisa/M 2.0] (http://paparazzi.enac.fr/wiki/Lisa/M_v20)
- IMU Aspirin 2.1 support
- BlackMagicProbe JTAG support
- 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:
- 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)
- 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)
- Using a gyro (with IR sensors) is done via imu subsystem now as well
- 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)
- 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"/>