Changes¶
- Support joysticks "hats" and map them to axes
- Add a state filtering functionality that either forwards its input reference (no-op) or replaces it with a velocity command built from user input (emergency mode preemption).
- Add programable user mappings to define the velocity computation and no-op/emergency mode triggers.
Download¶
joystick-genom3-1.1.tar.gz
Changes¶
- Implement servo control with PWM / DSHOT and Bidirectional DSHOT, settable via servo-mode and servo-freq settings.
- Add PID velocity control when using Bi-DSHOT.
- Add a setting for disabling MKBL (i2c) communication, via mkbl-motors=0 setting.
- Add 16 buttons to the gamepad HID, representing each axis high or low state.
- Fix gamepad HID descriptor to actually present 8 axes.
- Add a radio control software kill switch, settable via rc-kill-chan and rc-kill-mode settings.
- Stop MKBL motors after disconnection (#389).
- Report IMU temperature along with the sensor readings
- Forward ESC clock-rate adjustments messages to host, for e.g. rotorcraft log files.
- Switch chimera to a STM32F765 (was 67). Due to the chip shortage, some batches were made with a STM32F765. As far as we are concerned, it only differs from the 67 in amount of flash, and we are small enough to not be affected.
Download¶
tk3-paparazzi-1.3.tar.gz
Changes¶
- Improve probing of STM32 bootloader with small timeout
- Treat the special program name '-' as 'stdin'
- Fix STM32 sometimes not rebooted after flashing
- Fix termios cflags settings
Download¶
tk3-flash-1.5.tar.gz
Changes¶
- Log motors consumption and throttle in log files
- More verbose in case of error in servo()
- Don't stop motors in servo() in case of low sensor rate, as this will most
likely crash while the issue itself might not be that much fatal (e.g. in
case of low motor data rate). Note that start() will still fail to start
until the correct sensor rate is achieved.
- Implement set_pid() service for the Chimera flight controller.
Download¶
rotorcraft-genom3-3.5.tar.gz
Changes¶
- Implement torque control mode
- Add torque feedback
- Implement position control mode with a simple PD controller
Download¶
dxsim-gazebo-1.2.tar.gz
Changes¶
- Extract binary robotpkg packages with robotpkg_add -x instead of pax (#409)
- Add ubuntu codenames for 23.04, 23.10 and 24.04
Download¶
pkgrepo2deb-1.13.tar.gz
Changes¶
- Fix for pure velocity reference motion
- Fix for reference state in body frame
- Add a configurable low-pass filter for the estimated wrench
Download¶
phynt-genom3-1.2.tar.gz