crazyflie-firmware

The main firmware for the Crazyflie Nano Quadcopter, Crazyflie Bolt Quadcopter and Roadrunner Positioning Tag.

GPL-3.0 License

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crazyflie-firmware - 2023.11 Latest Release

Published by github-actions[bot] 11 months ago

Major changes

This release contain a couple of new features along with some bug fixes

  • Hybrid TDOA mode (still experimental and behind a build flag)
  • Python wrappers for Kalman core
  • Example for gap8 and cpx communication with the aideck
  • Fixes to the parameter internal update.
  • More clarification by the supervisor's state (need the new cfclient for this too)

What's Changed

New Contributors

Deprecated

This functionality is deprecated and will be removed in a future release. See the documentation for each item for information on which functionality to use instead.

Full Changelog: https://github.com/bitcraze/crazyflie-firmware/compare/2023.07...2023.11

crazyflie-firmware - 2023.11-rc2

Published by github-actions[bot] 11 months ago

crazyflie-firmware - 2023.10-rc1

Published by github-actions[bot] 12 months ago

crazyflie-firmware - 2023.10-rc1

Published by github-actions[bot] 12 months ago

crazyflie-firmware - 2023.07

Published by github-actions[bot] over 1 year ago

This is a maintenance release that fixes a few quirks that were introduced when the supervisor was added in the 2023.06 release. No new functionality has been added.

Deprecated functionality

This functionality is deprecated and will be removed in a future release. See the documentation for each item for information on which functionality to use instead.

What's Changed

Full Changelog: https://github.com/bitcraze/crazyflie-firmware/compare/2023.06...2023.07

crazyflie-firmware - 2023.06

Published by github-actions[bot] over 1 year ago

Major changes

The supervisor functionality has been extended to enable future high level functionality. Basic arming functionality has been added.
The Loco TDoA outlier filter has been updated to work better in long range mode.
The CRTP version is bumped to 6.
A tool for visualizing file dependencies in the source tree is added.
Bugfixes and clean up.

Deprecated functionality

This functionality is deprecated and will be removed in a future release. See the documentation for each item for information on which functionality to use instead.

What's Changed

New Contributors

Full Changelog: https://github.com/bitcraze/crazyflie-firmware/compare/2023.02...2023.06

crazyflie-firmware - 2023.02

Published by github-actions[bot] over 1 year ago

New functionality

  • Out of tree support for controllers to make it easy to add a custom controller from an app
  • Support to configure ESCs with BLHeli Configurator
  • Added an UKF estimator (experimental, does not support all positioning systems)
  • Possibility to reformat the persistent storage and wipe all data

The release also contains changes for improved testability and to support python bindings, as well as a number of bug fixes and stability improvements.

Deprecated functionality

This functionality is deprecated and will be removed in a future release. See the documentation for each item for information on which functionality to use instead.

What's Changed

New Contributors

Full Changelog: https://github.com/bitcraze/crazyflie-firmware/compare/2022.12...2023.02

crazyflie-firmware - 2022.12

Published by github-actions[bot] almost 2 years ago

This release adds support for the Flapper platform, a new controller (Brescianini) and improvements for the motor upgrade kit. There has also been work on improving the configuration and code infrastructure, as well as bug- and stability fixes.

What's Changed

New Contributors

Full Changelog: https://github.com/bitcraze/crazyflie-firmware/compare/2022.09...2022.12

crazyflie-firmware - 2022.09

Published by github-actions[bot] about 2 years ago

Major updates

  • Full Lighthouse support for 2+ base stations
  • TDoA3 long range
  • Improved menus for automated documentation on web page
  • CPX improvements
    • CRTP over CPX
    • UART2 performance improvements
  • Syslink over UART2 removed (replaced with CRTP over CPX on UART2)
  • Token ring protocol using P2P
  • Bolt and Big-quad deck improvements
    • DSHORT support for ESCs
    • ESC pass-though configuration via USB (virtual COM port)
  • Improved stability

Closed issues/pull requests

#949 Possible bug with i2cdevWrite - sending a single byte of data, sends two bytes
#998 Channel/address not always set at start up
#1025 lighthouse crossing beam
#1041 Kbuild uart2_link not yet converted
#1043 no red LED with low battery
#1047 Crazyflie 2.1 listed as 2.0 in windows
#1048 Display full NRF version string
#1050 Implementation of Virtual Com Port (composite USB) and DSHOT motor signal protocol
#1052 CI testing dynamic matrix
#1053 chore: Set permissions for GitHub actions
#1054 Platform build configurations seems to be broken
#1055 Fixed prop test not working with DSHOT and some small DSHOT efficiency improvements
#1056 Kconfig updates
#1057 Autonomous swarm demo update and working
#1059 Made UART2_LINK_COMM to a kbuild selection CONFIG_CRTP_OVER_UART.
#1060 Added UART DMA reception for sylink messages with more then 1byte data
#1061 Add debug probe for radio setup
#1062 Reduce TX power on CF2.1 when Loco deck is mounted
#1063 Add params for tdoa stddev
#1064 Enable setting UART1 debug printing baudrate from Kconfig
#1065 Optimize CPX communication on UART2
#1066 fix: fix unit tests on arm64
#1068 Tunnel CRTP over CPX (WiFi and serial port)
#1069 Correct platform defaults
#1070 DOC build instructions outdated
#1071 add GT define to all lighthouse measurements fix #1025
#1072 Specify wifi password minimum size
#1073 paramSetFloat() seems to be broken for persistent parameters
#1074 Fix build doc
#1075 convert alternative pins loco deck to kbuild
#1077 Improved internal parameter set/get functions
#1078 onchip debugging doc outdated
#1079 Fix build error when CPX is built without AI deck
#1080 Fix spelling error for AI define
#1081 Fix baudrate mismatch on startup of ESP
#1083 update gdb debugging doc
#1088 multiranger discard range measurements larger with bad status
#1089 Fixed estimator position stuck when no connection to client
#1092 Multi bs non experimental
#1093 Using new documentation menu format
#1094 Support 2+ base stations for crossing beam method
#1095 LH crossing beam support for 2+ base stations
#1097 Krichardsson/refactoring
#1098 DTR P2P in firmware
#1100 Add support for fullStateSetpoint in PID controller
#1101 High-Level flight: plan shortest rotation to reach the desired yaw
#1102 change name internal_param_log example and kbuild file
#1103 Increase priority of syslink flow control interrupt
#1105 DTR Renaming p2p_interface file
#1106 Disable syslink RX DMA
#1108 Add more syslink debug probes
#1109 Higher default std for tdoa3 long range
#1113 Added docs for configuring TDoA3 Long Range

Full Changelog: https://github.com/bitcraze/crazyflie-firmware/compare/2022.05...2022.09

Contributors

New Contributors

Aranyyan
C-Glick
CloudyPadmal
Danmark
FreddieOliveira
JGSuw
JacopoPan
Laatikk01234
MaxKemmeren
NicksonYap
Oxydation
Sascha274
SharvitDabir
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
marios-stam
markhermeling
markhermelinggt
matejkarasek
mgreiff
mikehamer
neilnaveen
ntamas
ograff
omwdunkley
opsound
pablo-ng
pablogs9
roeeSch
s9meboeh
sdalu
stephanbro
theseankelly
timgates42
tobbeanton
tomfelker
volmen3
whoenig

crazyflie-firmware - 2022.05

Published by github-actions[bot] over 2 years ago

Major updates

  • AI deck support
  • Crazyflie Packet eXchange (CPX) support
  • STM32 STD peripheral library updated to version 1.8.0
  • General improvements

What's Changed

For closed issues please see the 2022.05 milestone.

New Contributors

Full Changelog: https://github.com/bitcraze/crazyflie-firmware/compare/2022.03...2022.05

crazyflie-firmware - 2022.03

Published by github-actions[bot] over 2 years ago

Closed issues/pull requests

#762 Crazyflie CRTP_Param Documentation is outdated
#859 Initial port to the Linux kernel build system
#861 Overall commander architecture is complicated
#901 Lighthouse data not received in some angles
#928 Added version.vtpl to be parsed by doxygen for param docs
#929 Relay messages from GAP8 printf to the console
#931 Bolt + BQdeck persistent parameters
#934 Add mechanism for default parameters
#935 Added bolt platform
#940 Improve the low level CRTP documentation
#941 Kbuild: Settle on default config
#942 Kbuild: Convert more compiler defines to Kconfig
#943 Kbuild: Determine what more to make configurable
#944 Kbuild: Make "out-of-tree" build of apps work
#945 Kbuild: Update documentation
#947 Do not take address of packed member
#950 oot: Improve documentation of OOT with kbuild
#951 Kbuild: Convert MADWICK_QUATERNION define to config
#952 Key-Value unit test
#953 Kbuild: Convert DEBUG_PRINT_ON_UART1 to kconfig
#954 Kbuild: Convert CALIBRATED_LED_MORSE to Kconfig
#955 Build: Remove ENABLE_UART2 define
#956 Build: Remove SENSORS_MPU6500_DLPF_256HZ define
#957 CI: Use tools/build/build instead of make
#958 openocd flashing failing
#959 Makefile: Re-add variables needed for OpenOCD
#960 Kbuild: adding C++ support?
#961 Loco TX power should depend on Loco deck
#962 Support C++ in app-layer
#963 Remove all-flags CI target
#964 Update openocd_gdb_debugging.md
#965 Makefile.kbuild: Improve MacOS build experience
#966 add LIGHTHOUSE_AS_GROUNDTRUTH to kconfig
#968 Fix a typo in the name of Robert Mahony
#969 Kbuild: Convert some deck defines to Kconfig
#970 docs: Add guide for creating your own platform
#972 Add Kconfig option to reduce the brightness of the LED ring
#974 Make battery limits persistent
#975 Updated CPX packet format
#976 Added CRC to UART link and aligned with code in ESP
#977 Options and code to setup AI-deck WiFi from CF
#979 Add toobelt tool for building apps
#982 make cload wsl recipe overwritten
#983 Fixed CPX UART CRC calculation
#985 Add support for new(), malloc(), free() and assert() in C++ app code
#987 Use credentials for AI-deck AP mode
#989 Remove re-definition of PYTHON
#991 Improved LH2 data decoding
#992 Updated platform.md with KBuild vs persistent param.
#993 Added docs for lighthouse multi base station systems
#994 Added Bolt 1.1 platform config and motor mapping.
#999 Add parameter for base station availability
#1001 Add example of how to include files in OOT apps
#1006 change defconfig to cf2_defconfig
#1008 Persistent parameters for PIDs fixed.
#1009 Blocking GAP8 reading to avoid printing 0 in console
#1010 Can not change mode in Loco system
#1011 Fixed default values for pitch and yaw attitude PIDs.

Contributors

Aranyyan
C-Glick
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

crazyflie-firmware - 2022.01

Published by bitcraze-ci over 2 years ago

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

crazyflie-firmware - 2021.06

Published by bitcraze-ci over 3 years ago

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

crazyflie-firmware - 2021.03

Published by bitcraze-ci over 3 years ago

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

crazyflie-firmware - 2021.01

Published by bitcraze-ci over 3 years ago

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

crazyflie-firmware - 2020.09

Published by bitcraze-ci about 4 years ago

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

crazyflie-firmware - 2020.06

Published by bitcraze-ci over 4 years ago

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

crazyflie-firmware - 2020.04

Published by bitcraze-ci over 4 years ago

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

crazyflie-firmware - 2020.02

Published by bitcraze-ci over 4 years ago

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

crazyflie-firmware - 2019.09

Published by bitcraze-ci about 5 years ago

  • 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

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