First release candidate for v5.10 General ------- - optitrack fixes and gps_datalink protocol updates [#1506] (https://github.com/paparazzi/paparazzi/pull/1506) [#1563] (https://github.com/paparazzi/paparazzi/pull/1563) - optitrack/natnet logging [#1538] (https://github.com/paparazzi/paparazzi/pull/1538) - factor out message library and tools into https://github.com/paparazzi/pprzlink [#1503] (https://github.com/paparazzi/paparazzi/pull/1513) - pprzlink: support reading unaligned fiels from messages [#1528] (https://github.com/paparazzi/paparazzi/pull/1528) - pprzlink: update to C API with file descriptor param [#1593] (https://github.com/paparazzi/paparazzi/pull/1593) - flight plans: allow variable declarations in flight plans [#1530] (https://github.com/paparazzi/paparazzi/pull/1530) - flight plans: load modules directly from a flight plan [#1540] (https://github.com/paparazzi/paparazzi/pull/1540) - flight plans: add call_once alias for run without looping [#1675] (https://github.com/paparazzi/paparazzi/pull/1675) - flight plans: simpler geofence safety behaviour definition [#1664] (https://github.com/paparazzi/paparazzi/pull/1644) [#1802] (https://github.com/paparazzi/paparazzi/pull/1802) - module build system: improvements to efficiently replace subsystems [#1534] (https://github.com/paparazzi/paparazzi/pull/1534) [#1590] (https://github.com/paparazzi/paparazzi/pull/1590) [#1643] (https://github.com/paparazzi/paparazzi/issues/1643) [#1728] (https://github.com/paparazzi/paparazzi/pull/1728) [#1760] (https://github.com/paparazzi/paparazzi/pull/1760) - paparazzi center: make console non-editable and CTRL-C usable to copy text [#1546] (https://github.com/paparazzi/paparazzi/pull/1546) [#1547] (https://github.com/paparazzi/paparazzi/pull/1547) - paparazzi center: better save dialog on quit to replace backup dialog at start [#1591] (https://github.com/paparazzi/paparazzi/pull/1591) [#1640] (https://github.com/paparazzi/paparazzi/pull/1640) - GCS: add Bebop-like rotorcraft icon [#1552] (https://github.com/paparazzi/paparazzi/pull/1552) - GCS: changed default layout and make it easier to configure [#1600] (https://github.com/paparazzi/paparazzi/pull/1600) [#1601] (https://github.com/paparazzi/paparazzi/pull/1601) - update to latest libopencm3 [#1557] (https://github.com/paparazzi/paparazzi/pull/1557) - build: print more verbose info on xml loading errors [#1570] (https://github.com/paparazzi/paparazzi/pull/1570) - build: add board specific flags: e.g. use link-time-optimization on smaller boards [#1645] (https://github.com/paparazzi/paparazzi/pull/1645) - OCaml: deal with string deprecated warnings for OCaml >= 4.02 [#1703] (https://github.com/paparazzi/paparazzi/issues/1703) - tools: video stream viewer with ROI selection [#1708] (https://github.com/paparazzi/paparazzi/pull/1708) - add a vertical component to the wind vector [#1713] (https://github.com/paparazzi/paparazzi/pull/1713) - math: fix overflow in int32_quat_vmult [#1722] (https://github.com/paparazzi/paparazzi/pull/1722) - math: int32 generic vector math [#1758] (https://github.com/paparazzi/paparazzi/pull/1758) - cockpit: workaround lablgtk 2.18 Debian/Ubuntu bug [#1647] (https://github.com/paparazzi/paparazzi/pull/1647) - GCS: plot shapes on the map [#1809] (https://github.com/paparazzi/paparazzi/pull/1809) - paparazzicenter: experimental Python version [#1811] (https://github.com/paparazzi/paparazzi/pull/1811) - try to prevent speech spam in GCS [#1842] (https://github.com/paparazzi/paparazzi/pull/1842) Airborne -------- - gps: cleanup utm support and remove GPS_USE_LATLONG flag [#1476] (https://github.com/paparazzi/paparazzi/pull/1476) - gps: support multiple GPS at once with automatic switching [#1532] (https://github.com/paparazzi/paparazzi/pull/1532) - gps: fix GPS mediatek diy compilation [#1525] (https://github.com/paparazzi/paparazzi/pull/1525/files) - gps: revive UBlox via I2C support via gps_ubx_i2c module [#1580] (https://github.com/paparazzi/paparazzi/pull/1580) - sdlog: add SD logging for some meteo sensors on compatible boards [#1498] (https://github.com/paparazzi/paparazzi/pull/1498) [#1512] (https://github.com/paparazzi/paparazzi/pull/1512) - datalink: update bluegiga protocol [#1507] (https://github.com/paparazzi/paparazzi/pull/1507) - module: computer vision: orange avoider example [#1539] (https://github.com/paparazzi/paparazzi/pull/1539) - module: refactor XSens drivers and conver them to modules [#1541] (https://github.com/paparazzi/paparazzi/pull/1541) - module: improve optic flow calculation in LukasKanade and add edgeflow [#1558] (https://github.com/paparazzi/paparazzi/pull/1558) [#1586] (https://github.com/paparazzi/paparazzi/pull/1586) - replace bool_t with C99 bool from stdbool.h [#1577] (https://github.com/paparazzi/paparazzi/pull/1577) - module: add px4_gimbal for gimal control on Pixhawk [#1592] (https://github.com/paparazzi/paparazzi/pull/1592) - module: add esc32 for ESC32v3 speed controller [#1636] (https://github.com/paparazzi/paparazzi/pull/1636) - module: Support uADC probe from Aeroprobe [#1639] (https://github.com/paparazzi/paparazzi/pull/1639) - module: nav routine for pneumatic launcher takeoff [#1655] (https://github.com/paparazzi/paparazzi/pull/1655) - module: nav routine for skid landing [#1669] (https://github.com/paparazzi/paparazzi/pull/1669) - module: rpm_sensor [#1666] (https://github.com/paparazzi/paparazzi/pull/1666) - module: pose_history [#1737] (https://github.com/paparazzi/paparazzi/pull/1737) - improved vision pipeline with dual video support and async threads [#1648] (https://github.com/paparazzi/paparazzi/pull/1648) [#1735] (https://github.com/paparazzi/paparazzi/pull/1735) [#1764] (https://github.com/paparazzi/paparazzi/pull/1764) [#1806] (https://github.com/paparazzi/paparazzi/pull/1806) - computer vision: optical flow landing module [#1611] (https://github.com/paparazzi/paparazzi/pull/1611) - computer vision: openCV examples [#1663] (https://github.com/paparazzi/paparazzi/pull/1663) [#1789] (https://github.com/paparazzi/paparazzi/pull/1789) [#1798] (https://github.com/paparazzi/paparazzi/pull/1798) [#1824] (https://github.com/paparazzi/paparazzi/pull/1824) - computer vision: image appearance representation using texton distribution [#1692] (https://github.com/paparazzi/paparazzi/pull/1692) - UTM handling upgrades [#1629] (https://github.com/paparazzi/paparazzi/pull/1629) [#1637] (https://github.com/paparazzi/paparazzi/pull/1637) [#1730] (https://github.com/paparazzi/paparazzi/pull/1730) - datalink: add bluegiga capability to decode direct air-2-air messages [#1633] (https://github.com/paparazzi/paparazzi/pull/1633) - filters: delayed first order filter, second order notch filter [#1736] (https://github.com/paparazzi/paparazzi/pull/1736) [#1733] (https://github.com/paparazzi/paparazzi/pull/1733) - convert subsystems to modules [#1625] (https://github.com/paparazzi/paparazzi/pull/1625) [#1638] (https://github.com/paparazzi/paparazzi/pull/1638) [#1740] (https://github.com/paparazzi/paparazzi/pull/1740) [#1788] (https://github.com/paparazzi/paparazzi/pull/1788) - telemetry over intermcu [#1821] (https://github.com/paparazzi/paparazzi/pull/1821) - unified sys_mon and rtos_mon modules [#1846] (https://github.com/paparazzi/paparazzi/pull/1846) Rotorcraft firmware ------------------- - add velocity commands for guided mode [#1502] (https://github.com/paparazzi/paparazzi/pull/1502) - add traffic info support [#1509] (https://github.com/paparazzi/paparazzi/pull/1509) - refactor INDI stabilization and INDI rate control [#1519] (https://github.com/paparazzi/paparazzi/pull/1519) - add oval navigation routine (like in fixedwing) [#1568] (https://github.com/paparazzi/paparazzi/pull/1568) - improve helicopter support: spinup routines and flight plan mode manual [#1606] (https://github.com/paparazzi/paparazzi/pull/1606) - helicopter: INDI controller [#1752] (https://github.com/paparazzi/paparazzi/pull/1752) - converted PI rate controller to float [#1624] (https://github.com/paparazzi/paparazzi/pull/1624) - better defaults for vertical climb mode to avoid surprises [#1627] (https://github.com/paparazzi/paparazzi/issues/1627) - extension of the guided protocol [#1694] (https://github.com/paparazzi/paparazzi/pull/1694) - guidance for hybrid drones [#1769] (https://github.com/paparazzi/paparazzi/pull/1769) Fixed-wing firmware ------------------- - split AP and FBW taks when using ChibiOS [#1767] (https://github.com/paparazzi/paparazzi/pull/1767) - Hard-fault recovery wen using ChibiOS [#1815] (https://github.com/paparazzi/paparazzi/pull/1815) Drivers/HW support ------------------ - peripherals: MPUxxxx: configure multiple I2C slaves [#1499] (https://github.com/paparazzi/paparazzi/pull/1499) - peripherals: MPU60x0: fix startup bug [#1602] (https://github.com/paparazzi/paparazzi/pull/1602) - peripherals: support for AK8975 mag in MPU9150 [#1508] (https://github.com/paparazzi/paparazzi/pull/1508) - support for Pixhawk board (with split ap/fbw processors) [#1551] (https://github.com/paparazzi/paparazzi/pull/1551) [#1566] (https://github.com/paparazzi/paparazzi/pull/1566) [#1569] (https://github.com/paparazzi/paparazzi/pull/1569) [#1587] (https://github.com/paparazzi/paparazzi/pull/1587) - Parrot Bebop: increase luminosity of front camera [#1562] (https://github.com/paparazzi/paparazzi/pull/1562) - Parrot Bebop: fix for firmware 3.2.0 [#1745] (https://github.com/paparazzi/paparazzi/pull/1745) [#1828] (https://github.com/paparazzi/paparazzi/pull/1828) - Parrot Bebop: camera upgrade [#1750] (https://github.com/paparazzi/paparazzi/pull/1750) [#1766] (https://github.com/paparazzi/paparazzi/pull/1766) [#1818] (https://github.com/paparazzi/paparazzi/pull/1818) [#1825] (https://github.com/paparazzi/paparazzi/pull/1825) [#1826] (https://github.com/paparazzi/paparazzi/pull/1826) [#1834] (https://github.com/paparazzi/paparazzi/pull/1834) - Parrot ARDrone2/Bebop: startup fixes [#1571] (https://github.com/paparazzi/paparazzi/pull/1571) [#1588] (https://github.com/paparazzi/paparazzi/pull/1588) - support for new OPA (Oversized Paparazzi Autopilot) [#1615] (https://github.com/paparazzi/paparazzi/pull/1615) [#1657] (https://github.com/paparazzi/paparazzi/pull/1657) - drop support for classix [#1626] (https://github.com/paparazzi/paparazzi/pull/1626) - CAN support for STM32F4 [#1670] (https://github.com/paparazzi/paparazzi/pull/1670) - support for OpenPilot Revolution board (without modem) [#1676] (https://github.com/paparazzi/paparazzi/pull/1676) - support for pure ChibiOS architecture [#1699] (https://github.com/paparazzi/paparazzi/pull/1699) [#1743] (https://github.com/paparazzi/paparazzi/pull/1743) [#1767] (https://github.com/paparazzi/paparazzi/pull/1767) Simulator --------- - NPS: simulate airspeed and temperature sensors and get pressure from FDM [#1554] (https://github.com/paparazzi/paparazzi/pull/1554) - NPS: set wind via FlightGear [#1565] (https://github.com/paparazzi/paparazzi/pull/1565) - gaia: fix environment simulator time scale selector [#1653] (https://github.com/paparazzi/paparazzi/issues/1653)