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] (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)
- 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
- 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)
- Quadshot transitioning vehicle support.
- Care Free Mode
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] (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
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)
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] (paparazzi#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] (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
- 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] (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:
- xtend_rssi [#88] (paparazzi#88)
- open_log [#82] (paparazzi#82)
- 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)
- 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)
- 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] (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)
- 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"/>