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Paparazzi v5.12_stable

Stable version release

Paparazzi v5.11_devel

Update changelog

General

Airborne

Paparazzi v5.10_stable

Stable version release

Paparazzi v5.9.0_testing

First release candidate for v5.10

General

Airborne

Rotorcraft firmware

Fixed-wing firmware

Drivers/HW support

Simulator

  • NPS: simulate airspeed and temperature sensors and get pressure from FDM [#1554] (paparazzi#1554)
  • NPS: set wind via FlightGear [#1565] (paparazzi#1565)
  • gaia: fix environment simulator time scale selector [#1653] (paparazzi#1653)

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

Maintenance release.

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

Paparazzi v5.8.0_stable

Stable version release.

  • module: nav_catapult: avoid conditional directives [#1454] (paparazzi#1454)
  • module: gps_ubx_ucenter fix autobaud and autoconf for ublox-8 [#1480] (paparazzi#1480)
  • module: add stereocam2state which publishes a VELOCITY_ESTIMATE from stereocam [#1486] (paparazzi#1486)
  • arch/linux: I2C: use repeated-start for transceive as required by some sensors [#1469] (paparazzi#1469)
  • remove unused libeknav and fms folder [#1487] (paparazzi#1487)

Paparazzi 5.7.1_testing

Second release candidate for v5.8 stable release.

Paparazzi 5.7.0_testing

First release candidate for v5.8 stable release.

General

  • Tell Black Magic probe to use the reset pin before scanning [#1301] (paparazzi#1301)
  • Optitrack/Natnet: Implement smaller GPS messages from NATNET to PPRZ [#1308] (paparazzi#1308)
  • Paparazzi Center: update list of settings on build [#1331] (paparazzi#1331)
  • Paparazzi Center: add reload button [#1359] (paparazzi#1359)
  • Paparazzi Center: easily create new aircraft by copying existing aircraft [#1209] (paparazzi#1209)
  • python messages parser: add unit conversion coeffs [#1340] (paparazzi#1340)
  • server: increase maximum Ivy message length for use with many settings [#1344] (paparazzi#1344)
  • flight plans: add exec attribute to exceptions [#1347] (paparazzi#1347)
  • python: compare and test different attitude reference models [#1357] (paparazzi#1357)
  • GCS: only print bat warning every 10s [#1358] (paparazzi#1358)
  • GCS: kill confirmation opitional with -no_confirm_kill option [#873] (paparazzi#873)
  • GCS: load KML sectors for display in GCS [#404] (paparazzi#404)
  • GCS: fix zoom of video papget [#889] (paparazzi#889)
  • generators: check waypoint altitude against SRTM data [#1361] (paparazzi#1361)
  • Add ADS-B parser and handling of INTRUDERS [#1372] (paparazzi#1372)
  • logalizer: replay ground messages [#1380] (paparazzi#1380)
  • messages: support multiple variable length arrays in telemetry [#1385] (paparazzi#1385)
  • Docker: fix script to run Docker on OSX (with X-access) [#1425] (paparazzi#1425)
  • python: fix messages/settings with wxgtk3.0 [#1435] (paparazzi#1435)
  • flight plans for fixedwing: force UTM zone of waypoints to same as ref point to fix waypoints across two UTM zones [#303] (paparazzi#303)
  • realtime plotter: fix issue on Ubuntu with Unity [#1446] (paparazzi#1446)

Airborne

  • INS: vertical filter: rename VF_FLOAT_x defines to VFF_x
  • persistent_settings: add settings_clear [#1309] (paparazzi#1309)
  • electrical: fix non-real number possibility in current calculation [#1314] (paparazzi#1314)
  • electrical: improve current estimation with MILLIAMP_AT_IDLE_THROTTLE [#1319] (paparazzi#1319)
  • energy control: use ABI instead of IMU struct [#1324] (paparazzi#1324)
  • state interface: pass basic types by value [#1330] (paparazzi#1330)
  • settings: mark a lot more settings as persistent [#1345] (paparazzi#1345)
  • add OPTICAL_FLOW and VELOCITY_ESTIMATE ABI messages [#1350] (paparazzi#1350)
  • INS: use opticflow/VELOCITY_ESTIMATE in filter [#1387] (paparazzi#1387) [#1412] (paparazzi#1412)
  • radio_control: change spektrum and superbitrf channel signs to conform to standard [#1403] (paparazzi#1403)
  • actuators: add Spektrum output actuators [#1411] (paparazzi#1411)
  • actuators: new AscTec ESC I2C protocol [#1416] (paparazzi#1416)
  • periodic telemetry: possibility to register periodic message multiple times [#1440] (paparazzi#1440)
  • AHRS/messages: add component/filter ID to AHRS messages [#1441] (paparazzi#1441)
  • peridic telemetry: use msg ID instead of strings for matching (reduces size) and add support for mavlink [#1448] (paparazzi#1448)
  • math: possibility to compress sine table for flash and RAM [#1452] (paparazzi#1452)

Rotorcraft firmware

  • navigation: tunable navigation parameters in airframe file [#1315] (paparazzi#1315)
  • guidance: add a flip mode [#1352] (paparazzi#1352)
  • guidance: add outer loop INDI control [#1354] (paparazzi#1354)
  • stabilization: refactor attitude reference generation and runtime adjustable saturation [#1374] (paparazzi#1374) [#1382] (paparazzi#1382)
  • radio control: possibility to use two 2way switches for mode [#1375] (paparazzi#1375)
  • support dual-mcu setup with split autopilot (AP) and FlyByWire (FBW) [#1423] (paparazzi#1423)
  • support for helicopter/swashplate mixing and throttle curves [#1437] (paparazzi#1437)
  • tmtc/server: set course correctly from east/north velocity for correct ACINFO [#1449] (paparazzi#1449)
  • possibility to use NAV mode without GPS (define NO_GPS_NEEDED_FOR_NAV) [#1451] (paparazzi#1451)

Modules

Simulation

Drivers/HW support

Paparazzi 5.6.0_stable

Stable version release.

Paparazzi 5.5.2_testing

Thirst release canditate for v5.6 stable release.

  • ardrone2 and bebop: disable even loop limiting again [#1240] (paparazzi#1240)
  • bebop: finally fix I2C address for baro
  • modules: update geo_mag to latest WMM2015 model [#1270] (paparazzi#1270)
  • settings: add optional target attribute and calc MD5sum according to usable settings [#1157] (paparazzi#1157)
  • stm32: improve I2C stability in case of stuck bus [#1264] (paparazzi#1264)
  • i2c: cleanup I2C_ERRORS reporting [#1268] (paparazzi#1268)
  • modules: add divergen calculation for opticflow [#1262] (paparazzi#1262)
  • python: Add some utilities and a serial link interface to decode/encode PPRZ messages over a serial link [#1261] (paparazzi#1261)
  • modules: mag_hmc58xx: configure MAG_HMC58XX_I2C_DEV [#1274] (paparazzi#1274)
  • IMU: possibility to disable mag on aspirin 2 [#1273] (paparazzi#1273)
  • fixedwing: fix H_CTL_YAW_LOOP in stabilization adaptive

Paparazzi 5.5.1_testing

Second release candidate for v5.6 stable release.

  • rotorcraft: fix stabilization INDI crash on takeoff bug [#1255] (paparazzi#1255)
  • airborne: change ABI_BROADCAST id from 0 to 255 and introduce ABI_DISABLE [#1260] (paparazzi#1260)
  • airframes: cleanup and use standard motor mixing types [#1231] (paparazzi#1231) [#1249] (paparazzi#1249)
  • ahrs: reduced default ahrs align delay [#1256] (paparazzi#1256)
  • add an optional board_init function and fix bat check on bebop [#1253] (paparazzi#1253)
  • ARDrone2: fix battery checks, needs bat_voltage_ardrone2 module now [#1252] (paparazzi#1252)
  • paparazzi center: improve handling of programs from control_panel.xml [#1247] (paparazzi#1247)
  • server: set http port, replace -kml_port option with -port [#1248] (paparazzi#1248)
  • logalizer: rename plot to logplotter for clarity [#1226] (paparazzi#1226
  • GCS: don't prove airframe dtd if served via http [#1246] (paparazzi#1246)
  • Fixed unsanctioned yaw unkill problem with uninitialised joysticks [#1242] (paparazzi#1242)

Paparazzi 5.5.0_testing

First release candidate for v5.6 stable release.

General

  • paparazzi center: disable build/upload buttons during build/upload [#603] (paparazzi#603)
  • paparazzi center: case insensitive sort of airframe combobox [#993] (paparazzi#993)
  • paparazzi center: add @AIRCRAFT and @AC_ID placeholders for generic sessions [#1217] (paparazzi#1217)
  • GCS: improve papgets with multi aircraft support [#1068] (paparazzi#1068)
  • GCS: fix undo for list of values [#1054] (paparazzi#1054)
  • GCS: fix AIRCRAFTS syncronization issue with server (sometimes resulted in blank GCS) [#1078] (paparazzi#1078)
  • GCS: set bat level to UNK/0 at startup [#885] (paparazzi#885)
  • GCS: add -ac_ids option to specify displayed aircrafts [#1173] (paparazzi#1173)
  • GCS: add new flat icon theme [#1193] (paparazzi#1193) [#1234] (paparazzi#1234)
  • plotter: add support for adding constant curves via command line [#1227] (paparazzi#1227)
  • logplotter: rename plot to logplotter for clarity [#1226] (paparazzi#1226)
  • ground segment: add geometry param to messages and setttings agents [#1232] (paparazzi#1232)
  • ground segment: improve Ivy efficiency [#1082] (paparazzi#1082)
  • link: parameters for period of PING and LINK_REPORT messages [#1037] (paparazzi#1037)
  • link: add '-ac_timeout' parameter after which AC is marked as dead [#820] (paparazzi#820)
  • OCaml: try to live in harmony with the garbage collector [#1076] (paparazzi#1076)
  • OCaml: use Array.make instead of deprecated Array.create
  • OCaml: use camlp4 to ifdef around netclient/lablgtk version differences [#1137] (paparazzi#1137)
  • OCaml: fix string formatting of values in pprz ocaml lib [#1135] (paparazzi#1138)
  • OCaml: remove deprecated GnoDruid
  • python: generate paparazzi math wrappers with SWIG [#1066] (paparazzi#1066)
  • python: improve ivy messages interface [#1073] (paparazzi#1073)
  • python: add simple ivy2redis script [#1071] (paparazzi#1071)
  • python: add report tool for IMU scaled messages [#1194] (paparazzi#1194)
  • build: Possibilty to specify conf.xml file for building aircrafts [#1134] (paparazzi#1134)
  • build: use -ggdb3 DEBUG_FLAGS by default [#1164] (paparazzi#1164)
  • build: use pkg-config for ivy-c if available
  • joystick: add new RC USB joystick from HobbyKing [#1088] (paparazzi#1088)
  • conf: add HooperFly quad/hexa/octo airframe/JSBSim configs and new GCS icons [#1081] (paparazzi#1081)
  • flight plans: dynamic sectors and InsideX function for concave polygons [#643] (paparazzi#643) [#605] (paparazzi#605) [#1204] (paparazzi#1204)
  • improve defining of arrays in the airframe file [#564] (paparazzi#564) [#1192] (paparazzi#1192)
  • update udev rules [#1165] (paparazzi#1165)
  • update google map version extraction script

Airborne

  • allow to pass variables by value to ABI callbacks [#1087] (paparazzi#1087)
  • major refactoring of AHRS/INS interfaces using ABI, add dual AHRS support [#856] (paparazzi#856) [#1130] (paparazzi#1130)
  • AHRS: add (yet another) AHRS based on an invariant filter
  • GPS/IMU: directly send ABI messages from implementation [#1153] (paparazzi#1153) [#1154] (paparazzi#1154)
  • refactoring, use the generic LinkDevice interface for receiving data streams [#1140] (paparazzi#1140)
  • telemetry: store periodic telemetry msg names as const to save ram [#1151] (paparazzi#1151)
  • actuators: dual dual pwm [#1102] (paparazzi#1102)
  • GPS: NMEA parser improvements [#1146] (paparazzi#1146)
  • GPS: fix furuno parser (Bebop) [#1148] (paparazzi#1148)
  • INS: start considering BODY_TO_GPS translation [#1080] (paparazzi#1080)
  • INS: update NED accel with ins_alt_float [#1156] (paparazzi#1156)
  • INS: prevent propagation if there are no measurement updates [#1241] (paparazzi#1241)
  • cleanup: remove unused/unmaintained beth and fms code [#1162] (paparazzi#1162)
  • state interface: fix LLA calculation if only UTM origin initialized [#1171] (paparazzi#1171)
  • chibios SD logger: fix bad file name problem
  • fixedwing stabilization: yaw damper and active lift ctrl [#1190] (paparazzi#1190)

Rotorcraft firmware

  • fix attitude flight plan primitive (attitude_set_rpy_setpoint) [#1103] (paparazzi#1103)
  • implement global waypoints for rotorcrafts [#1065] (paparazzi#1065)
  • improve motor_mixing priorities [#1170] (paparazzi#1170)
  • predefined motor_mixing for common configurations [#1175] (paparazzi#1175) [#1244] (paparazzi#1244)
  • heading integration protection in RC-event [#1174] (paparazzi#1174)
  • waypoint API function naming cleanup [#1169] (paparazzi#1169)
  • guidance: fix max bank angle limit
  • make the heading flight plan primitive usable [#1218] (paparazzi#1218)
  • add simplified INDI (Incremental Nonlinear Dynamic Inversion) stabilization [#1207] (paparazzi#1207)
  • stabilization quat_int: reduce integrator quantization error [#1205] (paparazzi#1205)
  • fix arming with kill switch [#1125] (paparazzi#1125)

Modules

Simulation

  • NPS: add possibility to simulate loss of datalink/downlink [#1150] (paparazzi#1150)
  • NPS: update FDM bindings to be compatible with latest JSBSim [#1118] (paparazzi#1118)
  • remove jsbsim target (fully replaced by NPS) [#1123] (paparazzi#1123)
  • build: don't add full path to NPS object files [#798] (paparazzi#798)
  • NPS simulator: fix sensor simulation issues [#1131] (paparazzi#1131) [#1132] (paparazzi#1132)
  • NPS/FlightGear: add models for easystar (with ailerons) and Eternity [#1159] (paparazzi#1159)
  • Updated FlightGear interface and removed obsolete HITL files [#1196] (paparazzi#1196)
  • NPS: support gaia environment simulator [#1219] (paparazzi#1219)

Linux arch support

other drivers/HW support

  • remove support for ARDrone2 SDK version [#1222] (paparazzi#1222)
  • ARDrone2: add support for dynamic Ad-Hoc networking with OSLR [#1097] (paparazzi#1097)
  • Parrot Bebop: support all sensors including sonar [#1149] (paparazzi#1149) [#1182] (paparazzi#1182)
  • boards: add support for CC3D
  • IMU: support for MPU9250 ins SPI mode [#1161] (paparazzi#1161)
  • peripherals: ms5611 driver now also supports ms5607 (e.g. for Bebop) [#1147] (paparazzi#1147)
  • mcu_periph: move mcu peripheral event functions to common mcu_event
  • mcu_periph: increase max size for spi buffer length (8bits to 16bits)
  • arch/stm32: use desig_get_unique_id from libopencm3 [#1018] (paparazzi#1018)
  • peripherals: SD Card SPI interface [#1220] (paparazzi#1220)

Paparazzi 5.4.2_stable

Maintenance release

  • GCS: fix undo for list of values [#1054] (paparazzi#1054)
  • lisa_mx: fix secondary spektrum satellite UART AF
  • logalizer: fix csv export after allowing description tag in messages
  • nps: update nps_fdm_jsbsim to be compatible with latest jsbsim [#1118] (paparazzi#1118)
  • rotorcraft: fix attitude flight plan primitive [#1103] (paparazzi#1103)
  • flight plans: fix 'call' statement without loop
  • generators: only include raw makefile part from modules if target matches
  • GCS: GPS accuracy speech less verbose [#1046] (paparazzi#1046)
  • GCS: call index of first/single link "single" [#1098] (paparazzi#1098)

Paparazzi 5.4.1_stable

Maintenance release

  • plot: fix loading of logs with strings that are not representing a float
  • log: prevent display when no points [#897] (paparazzi#897)
  • GCS: disable broken WP reordering in editor
  • GCS: fix last known value was not returned with correct scale for saving
  • paparazzi center: show build/run versions and update help
  • messages: fix hide/show of notebook with multi A/C
  • start.py: properly use Popen to start paparazzi subprocess
  • bebop: actuators left/right reversed and fix NPS config
  • ms5611 barometer peripheral: fix I2C transaction
  • sdlog: call pprzlog_init if needed (and avoid segfault)
  • datalink: fix extra_dl and pprzlog
  • current sensor subsystem shared and not only for fixedwing
  • arch/linux: GCC diagnostic pragma outside of i2c_submit function
  • arch/linux: use same float_abi for linking as for compiling
  • arch/stm32: fix spektrum binding on F4 [#780] (paparazzi#780)

Paparazzi 5.4.0_stable

Stable version release.

  • messages: MOVE_WP and WP_MOVED_LLA with altitude in mm
  • ins: immediately effective ins_reset_local_origin
  • server: don't fail if settings_modules is missing
  • python: messagesapp: growable value column width
  • python: add python real time plotter to control panel
  • module: mavlink, parse PARAM_SET, send origin and waypoints
  • module: FLAPS, HATCH, BRAKE via RC in AUTO1 [#878] (paparazzi#878)
  • fixedwing: use min/max_cruise_throttle variables instead of defines [#1057] (paparazzi#1057)
  • GCS: turn off search in flight plan panel to fix hotkeys [#995] (paparazzi#995) [#1061] (paparazzi#1061)
  • GCS: fixes for flight plan editor and keeping map center on zoom [#927] (paparazzi#927) [#1059] (paparazzi#1059)
  • stm32/luftboot: update libopencm3 to get usb control call back fix [#1058] (paparazzi#1058)

Paparazzi 5.3.3_testing

Fourth release candidate for v5.4 stable release.

  • tmtc: fix rx_lost_time in link
  • paparazzicenter: fix GLib-CRITICAL warning when running clean/build/upload
  • server: write paparzzi_version as comment at beginning of log file [#1049] (paparazzi#1049)
  • replace BOOT message with AUTOPILOT_VERSION, show in GCS and add build version [#1050] (paparazzi#1050)
  • GCS: fix green color after colormap changes on some new systems [#1051] (paparazzi#1051) [#575] (paparazzi#575)
  • settings: display ? for current value on undo [#1054] (paparazzi#1054)
  • Add some more flexibility to conf and control_panel naming [#1055] (paparazzi#1055)

Paparazzi 5.3.2_testing

Third release candidate for v5.4 stable release.

  • code style: fix in (nearly) all airborne code
  • support Piksi GPS modules [#1043] (paparazzi#1043) [#957] (paparazzi#957)
  • fixedwing: airspeed tuning [#877] (paparazzi#877)
  • linux: handle SIGINT for console debug [#1008] (paparazzi#1008)
  • rotorcraft: always allow to switch to MODE_MANUAL via RC [#1036] (paparazzi#1036)
  • flight plan: use flight plan position in nps for most example files
  • airframes: OBC example airframes [#1044] (paparazzi#1044)
  • transitioning: fix transition offset handling [#1045] (paparazzi#1045)

Paparazzi 5.3.1_testing

Second release candidate for v5.4 stable release.

Paparazzi 5.3.0_testing

First release candidate for v5.4 stable release.

General

  • Flight plans: option to call functions once without checking return value [830] (paparazzi#830)
  • Paparazzi Center settings improvements [#834] (paparazzi#834)
  • replay: ignore non-telemetry messages to remove warnings [#894] (paparazzi#894)
  • maps: put google tiles in var/maps/Google instead of var/maps [#902] (paparazzi#902)
  • Paparazzi Center: improve warning coloring [#910] (paparazzi#910)
  • add INFO_MSG with printing to GCS console [#929] (paparazzi#929)
  • Remove array delimiters on Ivy messages [#942] (paparazzi#942)
  • improve test framework [#933] (paparazzi#933) [#945] (paparazzi#945)
  • GCS: save size in layout [#968] (paparazzi#968)
  • link/GCS: improve datalink/telemetry report and display link page in GCS for single link [#999] (paparazzi#999)
  • build: default to parallel make for aircrafts [#1002] (paparazzi#1002)
  • select_conf.py fixes and also selects control_panel.xml [#1001] (paparazzi#1001)
  • DFU flashing: CRC support and longer timeout for Krooz [#997] (paparazzi#997) [#691] (paparazzi#691)
  • messages: possibility to add descriptions [#987] (paparazzi#987)
  • messages: mission modules use LLA waypoints in 1e7deg instead of float [#986] (paparazzi#986)
  • GCS: alert/console window: always insert messages at the end [#996] (paparazzi#996)
  • improve dependency handling for modules [#1007] (paparazzi#1007)
  • Settings: display unconfirmed settins with "?" as current value [#1013] (paparazzi#1023)
  • messages/plotter: improve drag-and-drop of fields from messages to realtime plotter [#1020] (paparazzi#1020)

Simulation

  • OCaml sim: simulate sys_time [#962] (paparazzi#962)
  • OCaml sim: use unconnected socket for flightgear viz [#915] (paparazzi#915)
  • NPS: add commandline option to set time_factor
  • radio_conrol spektrum for sim target [#851] (paparazzi#851)
  • OCaml sim: sliders in simulated RC always sensitive [#821] (paparazzi#821)

Airborne

  • pass dt to ahrs/ins propagation [#818] (paparazzi#818)
  • cleanup math lib and convert lots of macros to functions [#819] (paparazzi#819)
  • radio_control spektrum also usable for intermcu [#847] (paparazzi#847)
  • Replace telemetry macros with functions [#931] (paparazzi#931) [#1027] (paparazzi#1027)
  • arch: rename arch/omap to arch/linux [#982] (paparazzi#982)
  • radio_control: cleanup channel defines and possibility to send less than available via intermcu [#975] (paparazzi#975)
  • state interface: change computation order in stateCalcPositionLla_i [#1013] (paparazzi#1013)
  • ARDrone2: Handle memory full FTP upload error [#967] (paparazzi#967)
  • rotorcraft: force MODE_STARTUP instead of KILL until ahrs is aligned [#983] (paparazzi#983)
  • rotorcraft: fix NavCircleCount()
  • rotorcraft: datalink: check ac_id of RC_4CH message
  • rotorcraft: allow to turn off motors in failsafe mode [#989] (paparazzi#989)

Modules

  • Convert air_data subsystem to module with QNH and true airspeed support [#853] (paparazzi#853)
  • add airspeed_ms45xx_i2c module [#852] (paparazzi#852)
  • airspeed_ets, retry after failed transaction
  • add temperature adc module [#857] (paparazzi#857)
  • clean up digital_cam, usable for rotorcrafts, show real photo coordinates in GCS [#936] (paparazzi#936)
  • modules: add basic mavlink module [#1028] (paparazzi#1028)
  • modules: improved video/images sending for ARDrone2 [#1021]: (paparazzi#1021)

Drivers/HW support

Paparazzi 5.2.1_stable

Maintenance release

  • build system: remove 'load' target as it is a builtin directive in Make 4.0
  • fix FlightGear visualization on 32bit systems
  • flight plans: set primitive should not delay next stage [#824] (paparazzi#824)
  • flight plans: fix return primitive
  • generators: gen_airframe: don't force float if unit = code_unit
  • sys_time: up to 16 sys_time timers by default (was 8)
  • OCaml: fix Pprz.sprint_value for uint32, e.g. for NatNet [#831] (paparazzi#831)
  • Rotorcraft: auto-enable UNLOCKED_HOME_MODE if HOME mode is used on RC [#823] (paparazzi#823)
  • Rotorcraft: only go to HOME mode if in NAV [#850] (paparazzi#850)
  • Fixedwing: If USE_BARO_BOARD: separate baro timer Before baro_periodic was running at PERIODIC_FREQUENCY in sensors_task, which is too fast for ms5611 if periodic freq is > 100Hz.
  • INS alt_float: if USE_BARO_BOARD, dt is 1/BARO_PERIODIC_FREQUENCY [#848] (paparazzi#848)
  • STM32: backport fix for using multiple ADs [#822] (paparazzi#822)
  • LPC21: don't override T0CCR values when setting ppm and trig_ext
  • IMU driver for Lisa/M/MX 2.1 [#817] (paparazzi#817)
  • support for HBmini board [#864] (paparazzi#864)

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"/>