This release includes the possibility of setting persistent parameters in the Crazyflie's STM. It is now also possible to add non-standard IMU orientation, enhanced CPPM communication and PID control in body aligned coordinates.

Moreover, it is now possible to override the LEDS on the Crazyflie NRF and go into stealth mode. A new, more logical, highlevel commander framework is added as well that. And now, the crazyflie also shutsdown more gracefully with the power button.

This release also has several bug fixes for the firmware STM and NRF.

Closed issues/pull requests

#383 CPPM on BigQad deck interferes with SPI deck bus
#675 CFloader not accessible through snap
#705 Unnecessary function calls
#803 Barometer based altitude hold
#807 Added optional transmit channel for raw lighthouse data
#808 flowdeck_v1v2: Fail test if init failed
#809 accelerometer log update
#810 Add epsilon to divisions in kalman core
#811 stabilizer: Update log documentation on IMU sensors
#813 Fix auto doc for loggs and params
#814 API docs: Generate JSON file
#816 allow modifying the name of the compiled binary by setting PROG in the environment
#819 Crazyflie Bolt: pm.state always reports that the drone is on charger
#820 added support for motor test on brushless motors
#824 Move all info of deck docs into automated doc
#825 Move info in deck user guides to automated docs
#826 Peripheral conflict detected even when two decks share an I2C bus
#827 Do not mark conflict when bus periphs are shared
#828 Improved CPPM: deadband, AETR & TAER channel mapping
#829 Allow non-standard IMU orientation (mostly for Bolt)
#830 Add systemRequestShutdown() to allow apps to request a full system shutdown
#831 Keep yaw setpoint within +/-delta from the current yaw
#833 Enabling PID position control in body-aligned coordinates
#837 build: Remove stabilzer configuration from Makefile
#838 jonasdn/revert user guide
#839 system: Add request and print of NRF fw version
#840 Spaces in current path causes build errors
#842 build.md: Add note about spaces in filesystem path
#843 Fix incorrect PID filter reset introduced in #803
#844 Add graceful shutdown support
#845 motors: Remove unnecessary function calls
#846 Add toolchain/compiler policy to build instruction
#847 motors: Sanity check supply voltage in compensation
#848 add missing brief identifier to param doc flightmode
#850 Fix setting the parameter by name for CORE parameters.
#851 added missing LED ring modes
#853 p2p_api.md: Recommend using the rate_limit query
#854 A possibility to override and control the Crazyflie 2.X onboard LEDs from the ground
#855 Length of received p2p packets is 2 bytes too long
#858 Make appchannelSendPacket() non-blocking
#860 Add comment about nullSetpoint semantics
#862 Improved CPPM - alternative GPIOs, arming and altitude hold, init fix
#863 Python bindings draft
#864 updating cfclient install for cload instructions
#865 Implementation for #854. Control onboard LEDs via parameters.
#866 cf_math: Avoid function calls with side effects within ASSERT()
#867 cf_math: Avoid double expression evaluation for MIN(), MAX()
#868 cf_math: remove matrixcopy/vectorcopy in favor of memcpy()
#869 Kalman: Move parameters in a separate parameter struct
#871 delete redundant extern declaration
#872 move relative trajectory shift computation into planner.c
#873 Fix indentation
#876 Does not compile with GCC 11
#877 disabled warnings for incorrectly detected sector size (fixes compilation for GCC11)
#878 Add const to string parameters
#879 Updated app channel function names
#881 deck_memory: Support secondary memory definition
#885 Pos/Vel PID controller in body-yaw-aligned axes instead of global
#886 Python bindings for pptraj and planner modules
#887 Low-level ESP32 bootloader SLIP communication protocol
#888 Enable stack overflow check
#889 Move storage buffer from the stack
#891 ESP32 (AI-deck) flashing from zip from cfclient
#892 Persistent param
#894 Python bindings for stabilizer_types.h
#895 Need to consider new EXTENDED flag in setbyname
#896 param_logic: Consider PARAM_EXTENDED in setbyname
#899 docs: Add pwm to thrust investigation
#902 .gitignore for python bindings build
#903 Push-based high-level commander
#904 New communication for AI-deck on UART2
#905 Make active marker deck parameters persistent
#906 param: Add GET_DEFAULT_VALUE to MISC_CHANNEL
#907 param: No default value for RO params
#911 fixed esp flasher compile error with older gcc versions
#912 fixed variance calculation cf2.0 and cf2.1 imu
#913 Update GNU copying permission statement
#914 Python bindings: add collision_avoidance
#917 Improve documentation
#919 sound: Do not allow setting bad effects
#920 Doc 2022.01
#924 fixed lingering wiki links
#925 Replace Cygwin by WSL in build doc for Windows
#927 Fix parameter docs for led group

Contributors

Aranyyan
CloudyPadmal
Danmark
FreddieOliveira
JGSuw
JacopoPan
MaxKemmeren
NicksonYap
Oxydation
Sascha274
Spordoz
TimKam
Williamwenda
WoNd3RBoY
X-N-C
Zhenghao-Dai
acecilia
aholler
andre-paraense
aswild
ataffanel
carlin-psvl
cbiffle
chronoB
concatime
danieldennett
dbrgn
dolfje
erwincoumans
estromb
evoggy
fbobrow
fredg02
fredgrat
gemenerik
guglie
jdavidberger
jonasdn
jpreiss
jsgf
jungr-ait
kant
khant14
knmcguire
krasin
krichardsson
lgenzelis
lkumar93
markhermeling
markhermelinggt
matejkarasek
mgreiff
mikehamer
ntamas
ograff
omwdunkley
opsound
pablo-ng
pablogs9
s9meboeh
sdalu
stephanbro
theseankelly
timgates42
tobbeanton
tomfelker
volmen3
whoenig

Closed issues/pull requests

#616 Barometer logging does not work with the kalman estimator
#722 State Estimator Sensor Push Redesign
#745 Pull request for the TWR robust Kalman filter
#751 Add Eventtriggers for kalman filter enqueue functions.
#754 Give more control over the linking order to apps Makefile
#756 CONTRIBUTING.md: Fix link to unit tests
#757 Deck info mem implementation can return uninitialized buffer
#758 remove unused checkStops variable from stabilizer.c, make inToOutLatency static
#759 motors: Document battery compensated thrust
#760 Default initial position of kalman estimator is not (0, 0, 0)
#761 Wall following demo
#763 log: Warn if a log block is dropping packets
#764 Add tools/build/elf_sanity.py
#767 Enable an estimator to be added by out of tree build
#768 Lighthouse as groundtruth
#770 OOT estimator fixes
#772 activeMarkerDeck: Add deck.bcActiveMarker param
#773 Clean up parameters after review
#774 motors: remove buggy cast in compensation
#776 crtp: Fix typo in LOG_GROUP_STOP
#777 Add log- and param core macros
#778 Pr lps doc
#780 Add and document core parameters and log variables
#782 updated variable for config.mk to make use of the ifdef, previous entry had no effect
#783 update lighthouse handling variable declaration.
#784 Mark log variables as core and add documentation
#787 Add tools/utils/verify_flash.sh
#788 Rechecked INDI controller for mistakes/consistency
#790 fix some typos in comments
#791 param: fix paramGetInt() and paramSetInt()
#792 Collision avoidance comments
#793 Generate documentation for log/params
#794 converting wiki documentation to the doc folder
#799 usddeck: Add eventriggerType_fp16
#800 log: Use TYPE_MASK to avoid problems with LOG_CORE
#804 Use rate constant in kalman estimator

Contributors

Aranyyan
CloudyPadmal
Danmark
FreddieOliveira
JGSuw
JacopoPan
MaxKemmeren
NicksonYap
Oxydation
Sascha274
Spordoz
TimKam
Williamwenda
WoNd3RBoY
X-N-C
Zhenghao-Dai
acecilia
aholler
andre-paraense
aswild
ataffanel
carlin-psvl
cbiffle
chronoB
concatime
danieldennett
dbrgn
dolfje
erwincoumans
estromb
evoggy
fbobrow
fredg02
fredgrat
guglie
jonasdn
jpreiss
jsgf
jungr-ait
kant
khant14
knmcguire
krasin
krichardsson
lgenzelis
lkumar93
markhermeling
markhermelinggt
mgreiff
mikehamer
ntamas
ograff
omwdunkley
opsound
pablogs9
s9meboeh
sdalu
stephanbro
theseankelly
timgates42
tobbeanton
tomfelker
volmen3
whoenig

The main feature of this release is support for the lighthouse positioning system, both V1 and V2 base stations are supported. Support for accessing deck memory as been added to handle updates of the Lighthouse deck FPGA binary data, but the support is generic and could be used for any deck with on-board memory. Lighthouse calibration and geometry data is now stored in the persistent storage to be available after startup.

An alternative, robust TDoA implementation has been added for the Loco Positioning System.

An event based logging mechanism has been added for the SD-card deck.

Various bugs have been fixed, mainly in the communication area and code has been refactored.

Closed issues/pull requests

#570 Add support for 2 Lighthouse V2 base stations
#624 Added takeoff/land with given average velocity commands to high level commander
#673 fix: sys.canfly variable should start from 'true' until we detect that the USB cable is connected
#677 Function declarations missing in unit tests
#678 Lightouse deck init param mispelled
#679 Lighthouse status reporting
#681 CTRP stack might lose packets
#682 Enable uart-syslink asserts in release builds.
#683 Implement battery test
#684 Refactor kalman core
#685 Switch crtp service and platform service to be tasks
#686 Change crtpSendPacket->crtpSendPacketBlock for request/respond CRTP msg
#687 Use blocking enqueue calls for radiolink and crtp to avoid packet loss
#688 Flow control for USB connection
#691 Add flow control for USB connection.
#692 Hard fault when logging lighthouse.validAngles
#693 Logging the lighthouse variable validAngles resets the cf.
#694 Update get_bs_geomtry.py script to use new functionality in python lib
#696 Add crtpsrv.echoDelay parameter
#697 Automatically store lighthouse calibration data in persistent memory
#698 Add lighthouse base station identifier to calibration data - API break
#699 Revamp CRC32 implementation
#700 Flash lighthouse deck bitstream over CRTP
#701 Magetometer
#702 Add script to upload lighthouse system configuration
#704 uSD Deck: Add event logging support
#706 Fix uSD CRC regression introduced in refactoring 9eb330c
#707 Pr/robust tdoa
#709 Makefile: __TARGET_FPU_VFP is not used by GCC
#710 Makefile: Error out on missing submodules
#713 FatFS: upgrade to latest version and move to vendor folder
#714 .gitmodules: Remove unused branch and clean
#715 vendor: Upgrade CMSIS from 4.5.0 to 5.7.0
#716 I2C improvements
#717 eprintf: Argument fmt should be constant
#719 Delete old CF1-related files that are not being used anymore.
#720 Copy functional uSD deck documentation from wiki to repo documentation.
#721 Adding event-based logging to uSD card
#723 Add supervisor module
#724 Clean-up of sleepus and usecTimer.
#725 Upgrade FatFS to R0.14a
#726 Active marker deck docs: clarify difference between modes 1 and 2
#727 Split BMI088 part of sensors_bmi088_bmp388 into backends
#728 Lighthouse: Allow to set system type at runtime
#732 Remove information about last control command from state estimator
#733 Lighthouse crossing beam: improve result quality
#734 Event trigger accuracy improvements.
#736 Dev lighthouse flashing
#737 Multiranger fails initialization
#739 Lighthouse2: Filter stale measurements that occur during interference
#741 Fix bad merge caused by 59e223c48de830dd4fe737c786042b97fc9a4f52.
#743 Fix regression that caused invalid data in uSD card log files.
#746 Update development documentation
#747 Update development docs part 2
#748 Update lighthouse documentation to prepare for release

Contributors

CloudyPadmal
Danmark
FreddieOliveira
Hoverbear
JGSuw
JacopoPan
NicksonYap
Oxydation
Sascha274
TimKam
Williamwenda
WoNd3RBoY
Zhenghao-Dai
acecilia
aholler
andre-paraense
aswild
ataffanel
carlin-psvl
cbiffle
chronoB
concatime
danieldennett
dbrgn
dolfje
erwincoumans
estromb
evoggy
fbobrow
fredg02
fredgrat
guglie
itsmnjn
jonasdn
jpreiss
jsgf
jungr-ait
kant
khant14
knmcguire
krasin
krichardsson
lgenzelis
lkumar93
markhermeling
markhermelinggt
mgreiff
mikehamer
ntamas
ograff
omwdunkley
opsound
pablogs9
s9meboeh
sdalu
stephanbro
theseankelly
timgates42
tobbeanton
tomfelker
volmen3
whoenig

This release contains:

• an extended and improved app API. Log data and parameters can now be accessed from an app and various functions have been adapted to be easy to use from an app.
• Collision avoidance functionality has been added.
• A persistent storage subsystem has been added to store data in the crazyflie. Initially it is used for lighthouse calibration and geometry data, but will be useful in the future for configuration data in the Bolt for instance.
• Improved support for Lighthouse V2 has been added.
• Various bug fixes and stability improvements.

Closed issues/pull requests

#506 Kalman filter supervisor floods downlink with messages
#619 Fix typo in config.mk.example comment
#621 Upgrade to latest FreeRTOS
#622 Led sequence run and stop functions should not block
#625 Add IDLE thrust for brushless motors
#627 Add UART function to get with configurable timeout
#628 Collision avoidance
#629 Update the LED sequence API to enable apps to run sequences
#630 Allow setting param variable from within the firmware (ie. For apps)
#632 Add an API that mirrors the high level commander API in the python lib.
#633 Add functions to write geometry and calibration data to the lighthouse modules from an app
#634 Add demo app
#635 assert in kalman estimator with lighthouse
#636 Refactor the memory sub system
#638 Add OneShot42 support for brushless motors
#639 Add .PHONY target to makefile
#641 Add memory mapping for lighthouse calibration data
#642 Implement persistent storage subsystem
#643 matrix data used in ARM optimized functions must be aligned on 4 byte boundaries
#644 Failed asserts in apps do not reset the Crazyflie
#645 Update lighthouse geometry memory mapping
#646 Add support for memory mappings in apps
#647 Clean up internal log API and added app example
#648 Added crtpCommanderHighLevelIsTrajectoryDefined()
#649 Add functionality to persist lighthouse geometry and calibration data
#650 Add crtp packet to send LH basestation angles
#651 Added takeoff/land with average velocity commands to public API of the HL commander
#652 Clean up API app
#653 hardcoding basestation geometry is deleted somewhere after
#654 Quaternion component naming inconsistency
#657 added isCharging(), isBatteryLow() and isChargerConnected() to PM API
#658 added feature to trigger bright flashes on the LED ring to identify a drone in a swarm
#659 disable MISC_VALUE_UPDATED CRTP messages on-demand with a compile-time switch
#661 Update toolchain documentation for Ubuntu 20.04 and 20.10
#662 Add real-time communication channel over CRTP for apps
#663 Add config for Loco deck reset pin
#666 docs: fix simple typo, communicaton -> communication
#668 Use Github actions for CI
#669 Queued meassurements not always handled in kalman filter
#671 sensfusion6: Rename quaternion components for clarity.

Contributors

CloudyPadmal
Danmark
FreddieOliveira
Hoverbear
JGSuw
NicksonYap
Oxydation
Sascha274
TimKam
WoNd3RBoY
Zhenghao-Dai
acecilia
aholler
andre-paraense
aswild
ataffanel
carlin-psvl
cbiffle
chronoB
danieldennett
dbrgn
dolfje
erwincoumans
estromb
evoggy
fbobrow
fredg02
fredgrat
guglie
itsmnjn
jpreiss
jsgf
jungr-ait
kant
khant14
knmcguire
krasin
krichardsson
lgenzelis
lkumar93
markhermeling
markhermelinggt
mgreiff
mikehamer
ntamas
ograff
omwdunkley
opsound
pablogs9
s9meboeh
sdalu
stephanbro
theseankelly
timgates42
tobbeanton
tomfelker
volmen3
whoenig

The main features of this release are general stability improvements, Flow and LPS decks now work together and some LPS improvements.

Closed issues/pull requests

#336 Use of digitalRead on STM Pin instead of Deck Pin
#368 Flow deck and Loco deck in TWR mode makes Loco deck hang
#436 LPS deck stops working in the system test rig
#488 Enable API for parameter values from the firmware
#523 Problems in kalman estimator using LPS and Flow deck at the same time
#541 Add functionality to set LPS TX power
#591 Sensors on Lighthouse deck not always initialized
#596 #595 Add ledMode to view valid lighthouse angles
#598 fixes #597: Add ledmode to support an uploaded light track
#600 Change last python(2) reference to python3
#604 Unaligned memory access from packed structs warning in GCC 9.3
#607 Convert docs to github compliant format
#608 Improving kalman implementation flowdeck
#609 Add app layer examples to repository
#612 Update to latest version of DWM1000 library
#613 LD error: multiple definition of sinRoll when using gcc 10.2

Contributors

CloudyPadmal
Danmark
FreddieOliveira
Hoverbear
JGSuw
NicksonYap
Oxydation
Sascha274
TimKam
WoNd3RBoY
Zhenghao-Dai
acecilia
aholler
andre-paraense
aswild
ataffanel
carlin-psvl
cbiffle
chronoB
danieldennett
dbrgn
dolfje
erwincoumans
estromb
evoggy
fbobrow
fredg02
fredgrat
guglie
itsmnjn
jpreiss
jsgf
jungr-ait
kant
khant14
knmcguire
krasin
krichardsson
lgenzelis
lkumar93
markhermeling
markhermelinggt
mgreiff
mikehamer
ntamas
ograff
omwdunkley
opsound
pablogs9
s9meboeh
sdalu
stephanbro
theseankelly
tobbeanton
tomfelker
volmen3
whoenig

The main features of this release is the basic support for the AI-deck and the introduction of the CCM (Core Coupled Memory) that made more RAM available.

Closed issues/pull requests

#546 CCM RAM more accessible
#574 add peer_localization to store the position of other crazyflies
#581 break stabilizer_types dependency on ARM
#582 Explain how to set up a debug environment in VS Code
#583 traj_eval_zero() in pptraj
#589 Add script to reboot a crazyflie remotely

Contributors

CloudyPadmal
Danmark
FreddieOliveira
Hoverbear
JGSuw
NicksonYap
Oxydation
Sascha274
TimKam
WoNd3RBoY
Zhenghao-Dai
acecilia
aholler
andre-paraense
aswild
ataffanel
carlin-psvl
cbiffle
chronoB
danieldennett
dbrgn
erwincoumans
estromb
evoggy
fbobrow
fredg02
fredgrat
guglie
itsmnjn
jpreiss
jsgf
jungr-ait
kant
khant14
knmcguire
krasin
krichardsson
lgenzelis
lkumar93
markhermeling
markhermelinggt
mgreiff
mikehamer
ntamas
ograff
omwdunkley
opsound
pablogs9
s9meboeh
sdalu
stephanbro
theseankelly
tobbeanton
tomfelker
volmen3
whoenig

Closed issues/pull requests

#514 sd logging file name not showing on console properly
#536 Unable to execute high-level commands immediately after low-level commands have been sent
#543 Add deck-driver for AI-deck
#548 Improve ASSERT error handling and reporting
#549 Optimize TDoA outlier filter for TDoA2
#550 rm motorsDisable(); switch to powerStop() instead.
#553 drop Python 2.x requirement for building as the scripts work fine with Python 3.x
#554 fix log types of motorPower.m[1-4]
#556 Use the TDoA engine for TDoA2
#557 copy latest version of jpreiss/cmath3d
#558 uart link
#560 #536 ability to enable high-level commands after low-level commands
#561 Memory issue of the micro SDcard deck
#562 Add functionality to find Lighthouse base station positions using the Lighthouse deck
#565 Improve documentation
#566 Use V4 of lighthouse FPGA binary
#568 Incremental Nonlinear Dynamic Inversion (INDI) position controller for the Crazyflie
#571 Doc for creating a new system task
#575 No self test of the BMI088 is implemented.

Contributors

CloudyPadmal
Danmark
FreddieOliveira
Hoverbear
JGSuw
NicksonYap
Oxydation
Sascha274
TimKam
WoNd3RBoY
acecilia
aholler
andre-paraense
aswild
ataffanel
carlin-psvl
cbiffle
danieldennett
dbrgn
erwincoumans
estromb
evoggy
fbobrow
fredg02
fredgrat
guglie
jpreiss
jsgf
jungr-ait
kant
khant14
knmcguire
krasin
krichardsson
lgenzelis
lkumar93
markhermeling
markhermelinggt
mgreiff
mikehamer
ntamas
ograff
omwdunkley
opsound
pablogs9
s9meboeh
sdalu
stephanbro
theseankelly
tobbeanton
tomfelker
volmen3
whoenig

Added basic app layer and P2P communication support. Improved Lighthouse positioning, bug fixes and architectural improvements.

Closed issues/pull requests

#307 the zRangerReadRange adds a hard-dependency between one deck and the core Crazyflie firmware
#461 Add support for positioning using only one Lighthouse base station
#476 Push ranges measurement to EKF from range.c module
#477 Add LED-ring effect to show status of localization service.
#478 Refactor planner to avoid global static members
#479 Lighthouse frames not decoded if slave basestation is blocked
#481 Improved Tumble Detection and Handling
#482 Avoid compilation error on newer toolchains (2019-q3).
#484 send/receive broadcast P2P radio packets
#485 Allow out of tree build of the Crazyflie firmware
#487 Add 'app' entry-point to make it easy to implement custom onboard control code
#489 Use Crazyflie coordinate system for Lighthouse geometry data
#490 Measure and use YAW with Lighthouse positioning
#491 Update types for parameters in i2cdrvCreateMessage and i2cdrvCreateMe…
#492 Uninitialized variable in skip_to_next
#493 Buffer underrun in spineffect2
#494 Buffer overrun in enumerateDecks
#495 Extract kalman filter into separate task
#496 Use mutex in locodeck.c
#501 xQueuePeek with third parameter '0' does not initialize the 2nd param…
#504 Added compressed trajectory format
#507 Add support for rate log
#508 FreeRTOS upstream v10.2.1
#509 Use static memory for tasks, queues and other OS objects
#510 Feature/freertos thirdparty
#513 Heap management options
#515 Hotfix: Added crosscompile prefix to math library
#517 Lighthouse geometry data is not recalculated when set through memory sub system
#518 Add production test support for the Active marker deck
#521 stabilizer.thrust is a float so it should be logged as a float
#524 Compiler Error in outlierFilter.c
#531 Drone fails mid-air on second run
#532 Modify yaw behaviour of high level commander for take off and landing
#533 Bad behaviour in PID controller when yaw > 2pi
#535 USB connection causing crash

Contributors

CloudyPadmal
Danmark
FreddieOliveira
Hoverbear
JGSuw
NicksonYap
Oxydation
Sascha274
TimKam
WoNd3RBoY
acecilia
aholler
andre-paraense
aswild
ataffanel
carlin-psvl
cbiffle
danieldennett
dbrgn
erwincoumans
estromb
evoggy
fbobrow
fredg02
fredgrat
guglie
jpreiss
jsgf
jungr-ait
kant
khant14
knmcguire
krasin
krichardsson
lgenzelis
lkumar93
markhermeling
markhermelinggt
mgreiff
mikehamer
ntamas
ograff
omwdunkley
opsound
pablogs9
sdalu
stephanbro
theseankelly
tobbeanton
tomfelker
whoenig

• Added support for Crazyflie Bolt
• Improved support for external positioning systems
• Basic support for the Lighthouse positioning system
• Added support for the Active marker deck
• Improved debug support
• Improved uSD card logging functionality
• Bug fixes

Closed issues/pull requests

#203 Packet for externally measured position and orientation
#216 Mixed line endings appearing in new commits.
#246 Implement full pose measurement in EKF
#290 Automatic LPS mode detection should not transmit in TDoA mode
#320 Crash in the Kalman filter
#364 Charging LED pattern not shown at startup
#377 Version reporting in the console is malfunctioning
#388 Deck UART2 is lacking RX functions
#390 Improve deck initialization information in the console
#393 Crash when USB connection is terminated
#394 Fail to connect via USB and get logs multiple times
#395 Fixed typos on string #138 & 143
#397 Implement lighthouse bootloader
#401 Add scripts to configure lighthouse system
#402 Kalman filter starts at (X, Y) = (0.5, 0.5)
#403 Decoupling the TDoA ranging system.
#404 Fixed typo in TDoA outlier filter function
#405 Uart1 and Uart2 are broken due to initialization without baudrate.
#406 Option to choose orientation of drone at calibration
#407 high level commander zero divide check
#408 Simplify logic for external position information.
#409 CF not responding to high-level commands after commit b2f01ff
#410 Update readme for Ubuntu 18.04
#411 Add getDeviceTypeName to platform service.
#412 uSD: Allow comments in config.txt
#413 Add status messages in stabilizer for sensor calibration
#414 uSD card: Add synchronous logging mode.
#415 Fixes a bug for extPos msg introduced in PR408.
#416 Add pycache to .gitignore
#417 Planner: Add check to avoid division by 0 for goTo commands.
#419 Add support for DEBUG_PRINT using SEGGER RTT
#420 Add logging variables for compressed state and setpoint.
#421 Update math3d library to the latest version.
#423 Clean up UART drivers
#425 accBiasFound to be renamed to accScaleFound
#427 Provide a way to set Lighthouse base station geometry remotely
#429 Log variables mixed up for the lighthouse
#431 Lighthouse deck stuck if bad firmware is flashed
#432 support %c in eprintf
#433 Add basic support for a multi device automated test rig
#438 Support to read latest logging file from uSD card over radio
#439 No deck init parameter for lighthouse deck
#441 Fixes #418: compilation error due to isspace() in usddeck.c
#444 get_bs_position.py errors out in Python 3.7
#445 Implement full pose measurement in EKF.
#447 Moving documentation from the wiki to crazyflie-firmware repository
#448 Add log variable to read motor test results
#449 Fix issue in locSrv that can cause incorrect decoding of external
#450 Fix compressState acceleration values to be mm/s^2.
#451 Add support to control the yaw angle (and not only rate).
#457 fix compilation of unit tests on macOS
#458 Add supervisor for the kalman estimator
#464 Add support for the Active marker deck
#466 LED RSSI - turns white if disconnected (1 sec timeout)
#467 get_bs_position - fix decode("utf-8")
#471 Extensive console logging causes crash when connecting
#472 Add platform support for Crazyflie Bolt
#473 Z-ranger2 uses kalman filter but recently added reset of this can cause it to become unstable.
#475 Look like copy and waste error in USE_MA_SMOOTHING of flowdeck code

Contributors

CloudyPadmal
Danmark
FreddieOliveira
Hoverbear
JGSuw
NicksonYap
Oxydation
Sascha274
TimKam
WoNd3RBoY
acecilia
aholler
aswild
ataffanel
carlin-psvl
cbiffle
dbrgn
erwincoumans
estromb
evoggy
fbobrow
fredg02
fredgrat
guglie
jpreiss
jsgf
jungr-ait
kant
khant14
knmcguire
krasin
krichardsson
lgenzelis
lkumar93
mgreiff
mikehamer
ntamas
ograff
omwdunkley
opsound
sdalu
stephanbro
theseankelly
tobbeanton
tomfelker
whoenig

Added support for the tag platform.

Closed issues/pull requests

#386 feat: AMG8833 Thermal Camera

Which binary to use?

Use the cf2 binary for Crazyflie 2.X and the tag binary for the Roadrunner.

Contributors

CloudyPadmal
Danmark
FreddieOliveira
Hoverbear
JGSuw
NicksonYap
Oxydation
Sascha274
TimKam
WoNd3RBoY
acecilia
aholler
aswild
ataffanel
carlin-psvl
cbiffle
dbrgn
erwincoumans
estromb
evoggy
fbobrow
fredg02
fredgrat
jpreiss
jsgf
jsschell
khant14
krasin
krichardsson
lgenzelis
lkumar93
mgreiff
mikehamer
ograff
omwdunkley
opsound
sdalu
stephanbro
theseankelly
tobbeanton
tomfelker
whoenig

Bugfix release that sets the default radio datarate to 2M

Closed issues/pull requests

#387 Change default radio bitrate to 2M

Contributors

CloudyPadmal
Danmark
FreddieOliveira
Hoverbear
JGSuw
NicksonYap
Oxydation
Sascha274
TimKam
WoNd3RBoY
acecilia
aholler
aswild
ataffanel
carlin-psvl
cbiffle
dbrgn
erwincoumans
estromb
evoggy
fbobrow
fredg02
fredgrat
jpreiss
jsgf
jsschell
khant14
krasin
krichardsson
lgenzelis
lkumar93
mgreiff
mikehamer
ograff
omwdunkley
opsound
sdalu
stephanbro
theseankelly
tobbeanton
tomfelker
whoenig

Main features

• Support for multiple hardware platforms
• Basic support for the Lighthouse deck
• Reduced binary size for faster flashing

Closed issues/pull requests

#378 Reduce size of binary
#379 Add support for multiple hardware platforms
#381 Do not fail multi-ranger deck test when calling multiple times
#382 Implement support for more than one Lighthouse receiver
#384 Add production test support for the Lighthouse deck

Contributors

CloudyPadmal
Danmark
FreddieOliveira
Hoverbear
JGSuw
NicksonYap
Oxydation
Sascha274
TimKam
WoNd3RBoY
acecilia
aholler
aswild
ataffanel
carlin-psvl
cbiffle
dbrgn
erwincoumans
estromb
evoggy
fbobrow
fredg02
fredgrat
jpreiss
jsgf
jsschell
khant14
krasin
krichardsson
lgenzelis
lkumar93
mgreiff
mikehamer
ograff
omwdunkley
opsound
sdalu
stephanbro
theseankelly
tobbeanton
tomfelker
whoenig

Main features

• Added TDoA3 mode for the LPS
• Support for Z-Ranger V2 deck
• Support for Flow V2 deck
• Support for Multiranger deck
• Support for Bosch BMI088 sensor
• Support for up to 64K parameter and log variables
• Crazyswarm support
  • High-level commander
  • Mellinger controller
• General improvement and bug fixes

Closed issues/pull requests

#190 Improve EKF alt-hold with VL53 sensor
#231 PM_BAT_CRITICAL_LOW_TIMEOUT is wrongly defined in pm.h
#256 Wrong display of large hexa string (serial number)
#284 Add a nonlinear trajectory tracking controller.
#285 Windows build not working
#286 Build error
#287 Fix error checking for log/param var lengths
#288 ctrlMellinger: Handling of commander timeout
#289 Use static functions
#293 High-Level Commander Design
#294 Improved debugger support
#295 Fix HardFault in Logging
#296 Define two communication channels devoted to GNSS (GPS) communications.
#297 Add position setpoint
#298 Add log variable to be able to synchronize Crazyflie and LPS TDoA system
#299 Add High-Level Commander, see #293
#300 Add parameters to initialize the kalman filter pos
#302 Add VL53L1 support to Multiranger
#303 High-level commander: trajectory upload and exec.
#304 Zranger driver: 'xTaskGetTickCount' should be outside of the loop with 'vTaskDelayUntil'
#308 HighLevelCmd: Add missing shift for traj. eval
#309 HighLevelCmd:Broadcast support for startTrajectory
#310 LocSrv: Add EXT_POS_PACKED CRTP packet
#311 README: Fix typos
#312 Add statistics to the CRTP module
#313 Number of Logging variables limited to 256
#314 printf with long don't process arguments correctly
#315 Implement LPS TDoA 3
#317 Implement deck drivers for Flow v2 and Z-ranger v2 (VL53L1)
#318 System load dump not working
#319 Remove clean from compile
#321 attitude pid reset copy/paste bug
#322 The protocol type is not checked in TDoA 2
#323 Pushing dangling pointer to the kalman queue
#324 Add option to dynamically change estimator using "stabilizer.estimator" parameter
#325 Add option to switch controllers dynamically
#326 Generalize logging to uSD card
#327 Upgrade to latest version of the DW1000 lib
#328 Clock correction tests
#329 Implement fading color effect for led ring deck
#331 Add log of battery level in percent
#332 Update config.mk folder location in README.md
#334 Build error for controller with mellinger
#335 Controller mellinger yaw direction reversed
#337 Allow more than 256 logging vars/parameters
#338 Manual flight: same yaw rate for PID and Mellinger
#339 Fix copy&paste error for attitute pid reset
#340 Fail to compile Arch Linux
#342 Crazyflie crashing when sending external position if Kalman filter is not enabled
#343 Fix IGNORE_OW_DECK compile flag
#344 Is TDOA3 module test working now?
#345 Add support for BMI088/BMP388 sensors
#346 Useful stuff for your consideration :)
#347 Fixed wrong assertions
#348 TDoA 2D position Z dependent of orientation
#351 HLCmd: Avoid setpoint discontinuities
#352 Compiler error with newer compiler
#353 Remove max,min,isnan macros in favor of built-ins
#354 Use new version of lib dw1000
#356 Update DW1000 lib to latest version
#357 Switch to extracted clock correction module in TDoA3
#358 Randomize which anchor to use in TDoA calculations
#359 Add unit tests for tdoa3
#360 Implement SPI driver for BMI088
#361 Remove lock for negative Z position in kalman filter
#362 Separate LPS algorithm implementations from locoDeck driver
#363 Make it possible to switch to TDoA3 in runtime
#366 Add support for TDoA 3 memory mapping
#367 uart1 deck driver freezes in case of Overrun error
#369 SYS: Assert failed at src/modules/src/estimator_kalman.c:857
#370 Implement propeller test functionality
#372 Increase number of tasks handled by the sysload module
#374 zranger V1 not returning readings on log variable
#375 Improve the outlier detector for TDoA
#376 Add support for zranger2

Contributors

Danmark
FreddieOliveira
Hoverbear
JGSuw
NicksonYap
Oxydation
Sascha274
TimKam
WoNd3RBoY
acecilia
aholler
aswild
ataffanel
carlin-psvl
cbiffle
cstanke
dbrgn
erwincoumans
estromb
evoggy
fbobrow
fredg02
fredgrat
jpreiss
jsgf
jsschell
khant14
krasin
krichardsson
lgenzelis
lkumar93
mgreiff
mikehamer
ograff
omwdunkley
opsound
sdalu
stephanbro
theseankelly
tobbeanton
tomfelker
whoenig

This release contains support for the Loco Positioning System TDoA mode and the possibility of positioning many Crayzflies simultaneously. It also contains improvements for the Flow Deck and initial support for the Multi-ranger Deck.

Compatibility

This release is compatible with the Crazyflie 2.0 but not Crazyflie 1.0.

Closed issues/pull requests

#238 The new auto-switch of sensor fusion filter breaks Bosch board.
#239 Enhance flow rotation compensation
#240 Fusion filter auto-switching broke BigQuad functionality
#241 Question about i2c communication between crazyflie 2.0 and other chips
#242 Update and merge back LPS TWR-TDMA code
#243 Add possibility to set LPS TWR-TDMA slot from copter address
#244 Warning while making
#248 Enable crash/tumbled detection for flow deck
#249 End of Crazyflie 1.0 compatibility
#251 Implement support for "TDoA 2.0"
#253 Implement support for multiple VL53L0x
#254 Implement deck driver for the Obstacle Avoidance prototype deck
#255 Fix startup freeze when VL53 sensor is not connected
#262 Make data static in zranger
#264 Undefined reference to uwbTdoaTagAlgorithm in locodeck.c:161 when compiling with LPS_TDOA_ENABLE=1
#265 Add support for "Anchor ranging status" in TDoA mode
#266 Add parameter with the Loco Positioning mode
#277 Add outlier detection and removal to the TDoA code

Contributors

Danmark
Hoverbear
JGSuw
Oxydation
Sascha274
WoNd3RBoY
aholler
aswild
ataffanel
carlin-psvl
cbiffle
cstanke
dbrgn
erwincoumans
estromb
evoggy
fbobrow
fredg02
fredgrat
jpreiss
jsgf
jsschell
khant14
krasin
krichardsson
lgenzelis
lkumar93
mgreiff
mikehamer
ograff
omwdunkley
opsound
stephanbro
theseankelly
tobbeanton
tomfelker
whoenig

Release notes

• Automatic switching of estimator. No special KALMAN version needed for the LPS anymore.
• Support for the flow deck.
• Support for multiple deck SPI clients

This is the last release with support for the Crazyflie 1.

Closed issues/pull requests

#226 Add E-Stop support and packet
#234 Implement support for flow deck to achieve 'hover mode'
#236 Implement automatic switching of estimator

This release improves support for Loco positioning, uSD card and emergency stop.

The release also contains pre-built binaries with the Kalman filter needed for flying with the Loco positioning system.

Release notes

• Support for Z-ranger deck
• Support for Bosch sensors deck
• Support for the Loco Positioning deck
• Position and altitude estimation and control improvements
• Debug utility to display task CPU usage

Closed issues/pull requests

#113 New commander packet
#144 Master.mag driver fixes
#145 [WIP] Baro driver slave configuration
#147 Master.crtp position update
#149 Temperature reading from LPS25H is wrong
#150 Broadcast support
#151 Accelerometer Filtering
#152 Failing LPS25H temperature self reading
#153 Added full kinematics for the not flying case
#156 VL53L0X Time of Flight Sensor Driver
#157 README: Add build instructions for Windows
#158 Velocity Controller and Additional Filtering
#159 Log additional variables and fix a bug
#161 Pid update
#162 Fix the state update in the prediction step of the EKF
#163 Change API of kalman tdoa estimator
#164 Micro-SD and GT-GPS deck has same deck PID=7
#165 Rework LPS TDOA implementation to use previous message from an anchor as reference
#166 Improve outlier detection in LPS TDOA
#167 Kalman instable when pushing distance difference
#170 Altitude hold not working
#171 Launch cfloader from python install
#172 Allow velocity only modes and remove const modifier to setpoint in th…
#173 Integrate the v53l0x ranging with the EKF
#174 Add measurement update with elevation laser ranging in the EKF
#175 Prevent double promotion
#176 Add debug utility to display CPU usage for each task
#177 Implement Bosch sensor deck support
#179 Build error
#182 EKF crashing when flying with VL53 sensor only
#185 Commander inputs feel delayed/sluggish/strange on latest built firmware (complementary filter)
#188 The Loco Positioning deck is not ranging properly
#192 Bug in param TOC CRC calculation
#193 Update anchor handling
#196 Add Localization generic packet format and LPS range report packet
#197 Add support for tunneling short data packet from CRTP to the LPS
#198 Add functionality to transfer anchor position from the Crazyflie to a client
#199 Receive anchor position from the TWR system
#202 Update VL53 driver for production OW memory content
#207 Building with LTO=1 is broken
#210 LPS: Enable DW1000 "Smart Power" to increase range
#211 Add zrange support
#219 Increase maxium amount of log block

Release Notes

• Architecture updated to support on-board position awareness
• Added functionality for the Loco Positioning system
• Rewrites of low level code to improve stability

Closed issues/pull requests

#143 Improve PID tuning on CF2
#141 Crazyflie takes a very long time to lock IMU
#72 Crazyflie 2.0 crashes when connected with USB
#46 Add CMSIS-DSP to the firmware project
#102 Refactor stabilization code
#142 ST CPAL I2C driver is bulky and unreliable
#138 Gyro log missing
#133 Rate mode doesn't work
#105 Watchdog suspicious reset on CF 1.0
#123 Fixed I2C delay
#126 Fixed semaphore logic in uart_syslink.c
#122 Fixed crtpRxTask bug on nopLink
#125 Adding interrupt-driven sensors task
#121 Fixed syslink unhandled overrun
#120 correct maximum payload for logging size
#118 Fixed I2C contention timeout bugs
#117 Crazyflie2
#116 fix small spelling issues in commander
#114 Allow custom arguments for the cload script.
#115 Adding a parameter to make tilt compensation configurable.
#106 Make tilt compensated thrust configurable
#112 Altitude hold doesn't work
#110 Implement 3D PID position controller
#111 Add biq quad deck CFLAGS example
#109 CPPM decoding doesn't work
#108 Add gdb target for make
#107 revive microsecond timer
#80 The code does not build cleanly with some defines enabled
#101 Refactor stabilizer.c
#97 Add unit test framework
#103 Makefile: add OPENOCD_CMD variable for improved support of other open…
#104 Added a snippet from Richard Wagner 'Ride of the Valkyries'
#98 Improve altitude hold
#100 Add thrust compensation when copter is tilted
#92 The firmware version is not reported correctly
#96 Move the source code into a src dir

Release Notes

• Added support for the buzzer deck
• Added basic support for Local Positioning System
• Deck API added
• Updated FreeRTOS to v8.2.3

Closed issues/pull requests

#69 CF2 freezes randomly when I2C code is not in the highest priority task
#70 Update README.md
#73 Add assert information when rebooting with watchdog
#74 Refactor build scripts
#75 Crazyflie Startup melody played twice
#76 misspelled deck constants header file
#77 Add log for real motors PWM
#78 __packed undeclared with arm-none-eabi-gcc 4.7.4
#79 fix to compile using older compiler, fixes Issue 78
#81 Downlink on BLE links only sends the first couple of packets and discards everything else
#82 Update name from deck_contants.h to deck_constants.h
#83 Log motor PWM ratios after voltage compensation
#84 Crazyflie 2.0 USB descriptor error
#85 Crazyflie2
#86 Added dependences for Ubuntu
#87 Add LPS DWM1000 deck driver
#90 Use latest version of libdw1000
#91 Fix Eskylink compilation option

Known bug

#92 Firmware version not reported correctly

This is a bugfix for the 2015.08 release.

• Fixes the random freeze. See bug #69