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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

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/paparazzi#1490)
  • module: fix gps_ublox
  • boards: naze32: default to SERIAL (USB) flash mode
  • generators: always put configure options at beginning [#1517] (paparazzi/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.

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

Airborne

Rotorcraft firmware

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.

Paparazzi 5.5.1_testing

Second release candidate for v5.6 stable release.

Paparazzi 5.5.0_testing

First release candidate for v5.6 stable release.

General

Airborne

Rotorcraft firmware

Modules

Simulation

Linux arch support

other drivers/HW support

Paparazzi 5.4.2_stable

Maintenance release

  • GCS: fix undo for list of values [#1054] (paparazzi/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/paparazzi#1118)
  • rotorcraft: fix attitude flight plan primitive [#1103] (paparazzi/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/paparazzi#1046)
  • GCS: call index of first/single link "single" [#1098] (paparazzi/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/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/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/paparazzi#878)
  • fixedwing: use min/max_cruise_throttle variables instead of defines [#1057] (paparazzi/paparazzi#1057)
  • GCS: turn off search in flight plan panel to fix hotkeys [#995] (paparazzi/paparazzi#995) [#1061] (paparazzi/paparazzi#1061)
  • GCS: fixes for flight plan editor and keeping map center on zoom [#927] (paparazzi/paparazzi#927) [#1059] (paparazzi/paparazzi#1059)
  • stm32/luftboot: update libopencm3 to get usb control call back fix [#1058] (paparazzi/paparazzi#1058)

Paparazzi 5.3.3_testing

Fourth release candidate for v5.4 stable release.

Paparazzi 5.3.2_testing

Third release candidate for v5.4 stable release.

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

Simulation

Airborne

Modules

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/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/paparazzi#831)
  • Rotorcraft: auto-enable UNLOCKED_HOME_MODE if HOME mode is used on RC [#823] (paparazzi/paparazzi#823)
  • Rotorcraft: only go to HOME mode if in NAV [#850] (paparazzi/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/paparazzi#848)
  • STM32: backport fix for using multiple ADs [#822] (paparazzi/paparazzi#822)
  • LPC21: don't override T0CCR values when setting ppm and trig_ext
  • IMU driver for Lisa/M/MX 2.1 [#817] (paparazzi/paparazzi#817)
  • support for HBmini board [#864] (paparazzi/paparazzi#864)

Paparazzi 5.2.0_stable

Stable version release.

General

Airborne

Rotorcraft Firmware

STM32 architecture

Paparazzi 5.1.1_testing

Second release candidate for v5.2 stable release.

General

Airborne

  • Modules: rewrite humid_sht using gpio interface (supporting STM as well as LPC now) [#721] (paparazzi/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/paparazzi#706)
  • bmp085 peripheral: Fix calibration reading with errors

Simulation

  • NPS: simulate sonar sensor [#720] (paparazzi/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

Fixedwing firmware

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

Paparazzi 5.1.0_testing

First release candidate for next stable release.

General

Simulation

Hardware support

Airborne

Rotorcraft firmware

Fixedwing firmware

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/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/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/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/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/paparazzi#467)
  • ARDrone2: GPS satellite informaton [#474] (paparazzi/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

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/paparazzi#167)
  • Mikrokopter V2 BLDC [#377] (paparazzi/paparazzi#377)
  • PX4Flow sensor [#379] (paparazzi/paparazzi#379)
  • Dropped AVR support

Airborne

  • State interface with automatic coordinate transformations [#237] (paparazzi/paparazzi#237)
  • New AHRS filter: Multiplicative quaternion linearized Kalman Filter
  • New SPI driver with transaction queues.
  • Peripherals: Cleanup and refactoring.
    • MPU60x0 peripheral supporting SPI and I2C with slave.
  • UDP datalink.
  • Magnetometer current offset calibration. [#346] (paparazzi/paparazzi#346)
  • Gain scheduling module. [#335] (paparazzi/paparazzi#335)

Rotorcraft firmware specific

  • Quadshot transitioning vehicle support.
  • Care Free Mode

Paparazzi 4.2.2_stable

Maintenance release

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/paparazzi#297)
  • Separate Board Files for yapa_v2.0 [#303] (paparazzi/paparazzi#303)
  • Add UART hardware flow control (for STM32 only) [#289] (paparazzi/paparazzi#289)
  • Add ezosd current sensor module [#292] (paparazzi/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/paparazzi#299)
  • Outback Challenge "Safety" Rules 1 and 2
  • Added WMM2010 Geo model used in ahrs int_cmpl_quat for rotorcrafts [#288] (paparazzi/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/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.

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/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/paparazzi#118)
  • Documentation node for modules [#182] (paparazzi/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/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/paparazzi#127)
  • RC input follows sign conventions [#124] (paparazzi/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/paparazzi#120)

Rotorcraft firmware specific

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/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/paparazzi#222)
    • Radio control via joystick now uses SDL (so works on OSX as well) [#232] (paparazzi/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/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"/>