Openrobots

Changes¶

• Factor out timestamp computation, and make it more robust to lost samples
• Fix velocity input to a flight-controller with only 1 motor

Download¶

tk3-matlab-1.3.tar.gz

Changes¶

• Fix the sign of the yaw velocity
• Activate dynamic braking only every other period
• Cancel the "motor blocked" callback during dynamic braking

Download¶

tk3-mikrokopter-1.5.1.tar.gz

Changes¶

• Older g++ (4.5) does not like C-like struct initializers
• In C client metadata, export numeric default values as numeric json data
• Catch all exceptions in ros_init() from C client
• Fix build with ros and gnu ld >= 2.24.90
• Disable static libraries by default

Download¶

genom3-ros-1.12.tar.gz

Changes¶

• Support Motive-1.9 (natnet 2.9). Make sure to leave the new 'Y UP' streaming option in Motive untouched. (There is now a 'Z UP' option...)

• Support the unicast streaming option of Motive (typically for Wifi connections). Multicast is still supported, and Motive streaming configuration can even be changed online without disrupting clients. Beware that each 'unicast' stream loads the streaming machine, and that unicast streams can only be stopped by stopping the streaming on the server.

• Add an option to export individual marker position (added set_export request to configure what is exported):
  • Individual marker position associated to rigid bodies. This information is exported in the port markers/name, where name is the rigid body name.
  • Anonymous marker position, not associated to a rigid body. Those markers are found in markers/anonymous

  The X,Y,Z coordinates are expressed in the global optitrack frame.

• Timestamp frame data more precisely (using E. Olson algorithm).

• The 'connect' request now returns as soon a a connection is established, so that connection errors are more easily detected.

Download¶

optitrack-genom3-1.4.tar.gz

Changes¶

• Export an optional timestamp associated to received data.
• Add a 'catch-up with delay' parameter to tk3_pacer
• Add an output port with the current time in the pacer block

Download¶

tk3-matlab-1.2.tar.gz

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)