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Paparazzi 4.1 - development branch

  • STM libs completely replaced by libopencm3
  • 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)

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"/>