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Paparazzi 5.2.0_stable

Stable version release.

General

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

Airborne

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

Rotorcraft Firmware

STM32 architecture

Paparazzi 5.1.1_testing

Second release candidate for v5.2 stable release.

General

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

Simulation

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

Fixedwing firmware

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

Paparazzi 5.1.0_testing

First release candidate for next stable release.

General

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

Simulation

Hardware support

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

Airborne

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

Rotorcraft firmware

Fixedwing firmware

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

Airborne

  • State interface with automatic coordinate transformations [#237] (paparazzi#237)
  • New AHRS filter: Multiplicative quaternion linearized Kalman Filter
  • New SPI driver with transaction queues.
    • Fix transactions with zero length input. [#348] (paparazzi#348)
  • Peripherals: Cleanup and refactoring.
    • MPU60x0 peripheral supporting SPI and I2C with slave.
  • UDP datalink.
  • Magnetometer current offset calibration. [#346] (paparazzi#346)
  • Gain scheduling module. [#335] (paparazzi#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] (paparazzi#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] (paparazzi#441)
  • add yaw trim [#444] (paparazzi#444)
  • add XSens Mti-G 700 support [#443] (paparazzi#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] (paparazzi#297)
  • Separate Board Files for yapa_v2.0 [#303] (paparazzi#303)
  • Add UART hardware flow control (for STM32 only) [#289] (paparazzi#289)
  • Add ezosd current sensor module [#292] (paparazzi#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] (paparazzi#299)
  • Outback Challenge "Safety" Rules 1 and 2
  • Added WMM2010 Geo model used in ahrs int_cmpl_quat for rotorcrafts [#288] (paparazzi#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] (paparazzi#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] (paparazzi#251)
  • PPM input on UART1 RX for Lisa/M autopilots
  • Rate Limiter for Flaps, Gears and servo hatches [#252] (paparazzi#252)
  • GPS acceleration compensation in ahrs_float_dcm [#255] (paparazzi#255)
  • Improved gravity heuristic for int_cmpl_quat
  • Some updates on digital_cam and photogrammetry modules [#250] (paparazzi#250)
  • Replace wget by OCaml Http_client from netclient lib to download files [#276] (paparazzi#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] (paparazzi#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] (paparazzi#118)
  • Documentation node for modules [#182] (paparazzi#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] (paparazzi#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] (paparazzi#127)
  • RC input follows sign conventions [#124] (paparazzi#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] (paparazzi#120)

Rotorcraft firmware specific

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