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

2016.09

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

Crazyflie 1.0/2.0 firmware release 2016.02

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

Crazyflie 1.0/2.0 firmware release 2015.08.1

This is a bugfix for the 2015.08 release.

• Fixes the random freeze. See bug #69

Crazyflie 1.0/2.0 firmware release 2015.08

Warning! We have found a serious problem in this release - do not use it

The crazyflie may freeze randomly (#69). If it happens during flight, the current thrust of the motors will be maintained and the crazyflie will not be possible to control.
If you have upgraded, we recommend to reinstall the previous version, https://github.com/bitcraze/crazyflie-firmware/releases/tag/2014.12.1

Release notes

To make full use of the features the nRF51 firmware should be updated with the 2015.08 release. Older versions will still work but with without the RSSI and radio address features.

User feature changelog (CF1 and CF2):

• Possibility to fly in rate (acrobatic) mode. Support in the cfclient for this is being developed so currently one have to change the parameters manually to activate it.
  Carefree, plus and X-mode implemented in firmware. Support in the cfclient for this is being developed so currently one have to change the parameters manually to activate it.
• Added battery voltage compensated thrust. Improves altitude hold functionality.
  • Fix for spinning out of control when yawing hard

User feature changelog (CF2 only):

• Automatically switch to brushless driver when detected. .This means that if the Crazylfie 2.0 is attached to the big-quad-deck it can automatically switch over to using brushless motorcontrollers during power on.
• LED-ring can now controlled with an API over the radio.
• Buzzer support added.
• Added support to set radio address
• RSSI measurement added
• FPU enabled

Additional developer feature changelog:

• A situation awareness framework. It allows the Crazyflie 1.0/2.0 to react to triggers. Currently there is a free-fall, tumbled, at-rest detection and an auto-takeoff functionality. Functionality needs to be enabled with define.
• New Deck framework
• The beginning of a Arduino like API for the deck port. Currently GPIO and ADC are the only functions there but more will come.
• Merge of CF1 and CF2 code branches

Full changelog

Crazyflie2 2014.12.1 with nRF51 v1.1

Version released with Crazyflie2 Batch2. Contains both STM32F4 and nRF51 firmware.

• Self-test status parameter added
• Some LED-ring effects added

Crazyflie 1 firmware 2015.1

This is bugfix release to make the Crazyflie 1 compatible with latest version of the Crazyflie python client.

• Implemented memory port

Crazyflie 2.0 2014.12.0

First release since Crazyflie 2.0 shipment.

• Change PWM frequency to fix regulator cut-off.
• Made sensor fusion less sensitive to noise.