Paparazzi v6.3.0 stable

Main changes in 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...

New Contributors

• @FlorianSan made their first contribution in #3090
• @alfredoFBW made their first contribution in #3145
• @alessandro-mancinelli made their first contribution in #3160
• @spacewolfXfr made their first contribution in #3197

Full Changelog: v6.2.0_stable...v6.3.0_stable

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• cleaning outdated confs (#2881)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 deeper changes planned for the series 6.
Some 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)
• collection of small fixes: (#2809) (#2812) (#2811)
• fix Gazebo coordinate transform (#2808)
• documentation (#2815) (#2816)

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)
• adaptive navigation patterns (#2813)
• improve system identification tools (#2810)

Paparazzi v5.18_stable

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_stable

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_stable

General

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

GCS

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

Airborne

• update RC lost behavior [#2287] [#2286]
• update to ChibiOS 18.2.2 [#2296]
• fix intermcu [#2275]
• throttle curve [#1878]
• INDI control improvements [#2200] [#2145]
• Estimation filters (drag, wind) [#2351] [#2320] [#1910] [#2262] [#2161] [#2132]
• range sensor [#2158]
• HACL-C, secure telemetry, RNG support [#2245] [#2235] [#2205] [#2199] [#2192] [#2150] [#2163] [#2164]
• math and filter lib [#2226] [#2160] [#2156] [#2142]
• bebop wifi tools [#2234] [#2146]
• preliminary F3 and X-Vert support [#2113]
• computer vision fixes and improvements [#2363] [#2334] [#2330] [#2324] [#2325] [#2315] [#2308] [#2305] [#2297] [#2173] [#2269] [#2239] [#2215] [#2195] [#2159] [#2150] [#2096]
• Decawave UWB modules [#2154]
• formation control [#2293] [#2246] [#2206]
• fix mission control [#2211]
• Jevois smart camera support [#2342] [#2343] [#2322]
• better arming status messages
• rewrite Spektrum driver [#2250]

Paparazzi v5.12_stable

Paparazzi v5.12_stable

General

• updated to pprzlink v.2.0. [#2083]
• HITL as a standalone target [#2062]
• Added Gazebo as simulation backend for NPS [#2069]
• conversion of subsystems to modules [#1978] [#1985] [#1989]
• live MAG calibration tool and onboard calibration algorithm [#2043] [#1977]
• possibility to use generated autopilot for rotorcraft [#2055] [#1975]
• also compile C++ files [#1561]
• mag live calibration tool [#1977]
• flight plans [#2106] [#2101] [#1970] [#1967] [#1943] [#1942] [#1900]
• mission index [#1918]
• several conf cleaning
• NPS update [#1831]
• mini package manager [#1904]

Airborne

• cleaning TUDelft stereocam modules [#2107]
• support of lisa mxs board [#2104]
• initial support for Parrot Swing [#2085]
• initial support for Decawave DW1000 modules [#2084]
• polygon survey via Guidance Vector Field [#2052]
• added support of RTK with UBlox8 modules [#2034]
• added support of HOTT radio control [#2030]
• added support for Chimera autopilot [#2018]
• refactoring autopilot code [#2009]
• several improvments to Hybrid control and INDI [#2063] [#2011] [#2005] [#2004] [#2003] [#2002]
• added support for ChibiOS on rotorcraft [#1999]
• added support for Parrod Disco [#2066] [#1992]
• convert telemetry subsystems to modules [#1835]
• change behavior of command laws [#1955]
• RC switch [#1954] [#1953] [#1951]
• PX4 support and fixes [#1950] [#1962]
• update libopencm3 [#1965]
• sbus actuators support [#1952]
• guidance vector field [#1919]
• ahrs support and fixes [#1949] [#1946]
• lidar lite and teraranger drivers [#1926] [#1888]
• variable size median filter [#1909]

Paparazzi v5.10.0_stable

Paparazzi v5.10_stable

Stable version release

• convert ahrs to modules
  #1859
• svinfo vizu
  #1860
• fix i2c, uart and systime drivers for chibios
• several small fix on configuration files
• fix in state and geodetic interface
• fix for secondary GPS timeout
• fix airframe generation to have all configuration variables first

Paparazzi v5.9.0_testing

First release candidate for v5.10

General

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

Airborne

• gps: cleanup utm support and remove GPS_USE_LATLONG flag
  #1476
• gps: support multiple GPS at once with automatic switching
  #1532
• gps: fix GPS mediatek diy compilation
  #1525
• gps: revive UBlox via I2C support via gps_ubx_i2c module
  #1580
• sdlog: add SD logging for some meteo sensors on compatible boards
  #1498
  #1512
• datalink: update bluegiga protocol
  #1507
• module: computer vision: orange avoider example
  #1539
• module: refactor XSens drivers and conver them to modules
  #1541
• module: improve optic flow calculation in LukasKanade and add edgeflow
  #1558
  #1586
• replace bool_t with C99 bool from stdbool.h
  #1577
• module: add px4_gimbal for gimal control on Pixhawk
  #1592
• module: add esc32 for ESC32v3 speed controller
  #1636
• module: Support uADC probe from Aeroprobe
  #1639
• module: nav routine for pneumatic launcher takeoff
  #1655
• module: nav routine for skid landing
  #1669
• module: rpm_sensor
  #1666
• module: pose_history
  #1737
• improved vision pipeline with dual video support and async threads
  #1648
  #1735
  #1764
  #1806
• computer vision: optical flow landing module
  #1611
• computer vision: openCV examples
  #1663
  #1789
  #1798
  #1824
• computer vision: image appearance representation using texton distribution
  #1692
• UTM handling upgrades
  #1629
  #1637
  #1730
• datalink: add bluegiga capability to decode direct air-2-air messages
  #1633
• filters: delayed first order filter, second order notch filter
  #1736
  #1733
• convert subsystems to modules
  #1625
  #1638
  #1740
  #1788
• telemetry over intermcu
  #1821
• unified sys_mon and rtos_mon modules
  #1846

Rotorcraft firmware

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

Fixed-wing firmware

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

Drivers/HW support

• peripherals: MPUxxxx: configure multiple I2C slaves
  #1499
• peripherals: MPU60x0: fix startup bug
  #1602
• peripherals: support for AK8975 mag in MPU9150
  #1508
• support for Pixhawk board (with split ap/fbw processors)
  #1551
  #1566
  #1569
  #1587
• Parrot Bebop: increase luminosity of front camera
  #1562
• Parrot Bebop: fix for firmware 3.2.0
  #1745
  [#1828](https://github....

Paparazzi v5.8.2_stable

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

Paparazzi v5.8.1_stable

Maintenance release.

• ground segment: python tools fixes
• module: stereocam2state improvements/fixes
  #1490
• module: fix gps_ublox
• boards: naze32: default to SERIAL (USB) flash mode
• generators: always put configure options at beginning
  #1517
• generators: varous fixes for loading of modules and subsystems
• drivers: fix regression of wrong magnetometer axis on Parrot Bebop