Openrobots

Changes¶

• Set a hardcoded 40A limit in the motor controller.
• Bump the soft limit from 15A to 35A in the maximum current setting.
• Add a sequence number to each periodic message (imu, motor velocity, battery)

Download¶

tk3-mikrokopter-1.5.tar.gz

This is a very preliminary release. At the moment this component contains lots of debugging code. The interface is not stabilized either, and this requires a motion capture component (hardcoded).

Download¶

nhfc-genom3-1.0.tar.gz

Download¶

mikrokopter-genom3-1.0.tar.gz

Changes¶

• Fix accelerometer readings, they were conscientiously inverted

Download¶

tk3-mikrokopter-1.4.tar.gz

Changes¶

• Add function body_list, returning the list of currently available bodies
• Use openrobots-idl 1.1

Download¶

optitrack-genom3-1.3.tar.gz (812389 bytes)

Changes¶

• Drop unused fields in the pose_estimator state and add an 'intrinsic' flag.
• Add a rotorcraft interface with wrench control input

Download¶

openrobots-idl-1.1.tar.gz

Changes¶

• Properly track dependencies of generated md5 files of msg/srv, by using python roslib.gentools instead of directly gendeps (which does not output the dependencies).
• Implement new genom_state port (of genom3-2.99.26).
• Implement finer grain locking between codels and tasks. There is no global mutual exclusion anymore. Only the codels that do share resources are executed in sequence.
• Implement 'paused transitions' (of genom 2.99.26)
• Miscelaneous bug fixes (in particular in C client initialization, sequence mapping, multiple input ports).

Download¶

genom3-ros-1.11.tar.gz (812389 bytes)

Changes¶

• Implement new genom_state port (of genom3-2.99.26)
• Implement finer grain locking between codels and tasks. There is not global mutual exclusion anymore. Only the codels that do share resources are executed in sequence.
• Implement 'paused transitions' (of genom 2.99.26)
• Miscelaneous bug fixes (regarding json client code, sequence mappings, exception context in execution task).

Download¶

genom3-pocolibs-1.8.tar.gz (356775 bytes)

Changes¶

• INCOMPATIBLE CHANGE: Introduced 'paused' transitions. This allows to execute multiple states of a periodic activity during the same period. This breaks the behaviour of all activities running in a periodic task. In order to sleep until the next period, activities must now return a 'paused' transition (see documentation). A 'paused' transition in a task with no period behaves as the former special 'sleep' state (waits until another codel runs and returns a regular transition - i.e. not a paused one).

• Dropped the special 'sleep' state (superseeded by 'paused' transitions).

• Added a new [$codel mutex] template procedure, returning the list of mutually exclusive codels (sharing resources). This helps template in implementing better parallelism.

• Do not require a 'start' state for permanent (task) activities. They can define only a 'stop' event.

• Check at compile time that 'async' codels do not share any data with other tasks: since they are expected to run in parallel with other codels, this is a mandatory property. As a convenient exception, async codels sharing data with only the start or stop state of other permanent activities are still allowed.

• Skeleton template remembers the -l c++ option so that 'make regen' works.

• Miscelaneaous bug fixes, in particular in sequences mapping.

Download¶

genom-2.99.26.tar.gz (812389 bytes)

Changes¶

• Fix clock adjustment routine for big offsets
• Actually store the clock rate in the EEPROM for next runs
• Add a 'beep' command playing given frequency tones (for e.g. alarm signals)

Download¶

tk3-mikrokopter-1.3.tar.gz (347355 bytes)