Releases: bitcraze/crazyflie-firmware
2020.02
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
2019.09
- 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
2019.02
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
2019.01
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
2018.12
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
2018.10
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
2018.01.1
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
2017.06
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
2017.05
2017.04
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