mikrokopter-genom3: Newshttps://git.openrobots.org/https://git.openrobots.org/favicon.ico?14752240372019-06-25T15:11:29ZOpenrobots
Redmine mikrokopter-genom3 2.0.1 releasedhttps://git.openrobots.org/news/1962019-06-25T15:11:29ZAnthony Malletanthony.mallet@laas.fr
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<ul>
<li>Reset the time offset of the received IMU/motor data if it diverges too much.</li>
<li>Don't publish IMU/motor data at fixed 1kHz, but only when new data is present.</li>
</ul>
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<p><a href="http://www.openrobots.org/distfiles/mikrokopter-genom3/mikrokopter-genom3-2.0.1.tar.gz" class="external">mikrokopter-genom3-2.0.1.tar.gz</a></p> mikrokopter-genom3 2.0 releasedhttps://git.openrobots.org/news/1742019-03-08T17:52:39ZAnthony Malletanthony.mallet@laas.fr
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<ul>
<li>Switch to openrobots2-idl</li>
<li>Reset imu values to NaN in case of timeout, to clean log files</li>
<li>Measure effective sensor rate and refuse to servo() if below 80% of the desired rate. Also log the measured rate in the log file</li>
<li>Don't scale input twice during startup ramp</li>
<li>Actually send only non-NaN rotors velocities (saves bandwidth)</li>
<li>Improve motor startup, by resending startup message in case it was lost</li>
<li>Print unknown flight controller messages on stderr.</li>
</ul>
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<p><a href="http://www.openrobots.org/distfiles/mikrokopter-genom3/mikrokopter-genom3-2.0.tar.gz" class="external">mikrokopter-genom3-2.0.tar.gz</a></p> mikrokopter-genom3 1.7 releasedhttps://git.openrobots.org/news/1242018-01-31T14:25:39ZAnthony Malletanthony.mallet@laas.fr
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<ul>
<li>Log brushless controller clock rate in the log file</li>
<li>Log IMU timestamp in the log file</li>
<li>Use aio(7) for logging and drop log entries when io requests are too slow.</li>
<li>Fix initial scaling ramp when the input port is not updated during 2 periods or more.</li>
<li>Wait until all motors have cleared their emergency flag before starting (that would otherwise prevent proper start after a failure to start).</li>
<li>Fix a logic bug in the startup monitoring, which could cause an infinite wait.</li>
<li>Document some services, in particular calibrate_imu() and set_zero().</li>
</ul>
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<p><a href="http://www.openrobots.org/distfiles/mikrokopter-genom3/mikrokopter-genom3-1.7.tar.gz" class="external">mikrokopter-genom3-1.7.tar.gz</a></p> mikrokopter-genom3 1.6.1 releasedhttps://git.openrobots.org/news/932017-06-15T15:29:57ZAnthony Malletanthony.mallet@laas.fr
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<ul>
<li>Disable IMU filter by default (<a class="issue tracker-1 status-5 priority-2 priority-default closed" title="Bug: Disable IMU filter by default (Closed)" href="https://git.openrobots.org/issues/121">#121</a>)</li>
</ul>
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<p><a href="http://www.openrobots.org/distfiles/mikrokopter-genom3/mikrokopter-genom3-1.6.1.tar.gz" class="external">mikrokopter-genom3-1.6.1.tar.gz</a></p> mikrokopter-genom3 1.6 releasedhttps://git.openrobots.org/news/912017-05-22T12:49:53ZAnthony Malletanthony.mallet@laas.fr
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<ul>
<li>Raise an error in set_velocity() only if a motor in in emergency (<a class="issue tracker-1 status-5 priority-2 priority-default closed" title="Bug: All rotors slow down to 16Hz after enable of a single on (Closed)" href="https://git.openrobots.org/issues/99">#99</a>)</li>
<li>Use ASYNC_LOW_LATENCY ioctl on the tty when available, and check that the ftdi latency is actually 1ms.</li>
<li>Use openrobots-idl-1.4, drop now superfluous "rotors" port (merged into rotor_measurement port) (<a class="issue tracker-1 status-5 priority-2 priority-default closed" title="Bug: Add battery level to out port (Closed)" href="https://git.openrobots.org/issues/110">#110</a>).</li>
<li>Add a set_throttle() service, setting an open-loop PWM (<a class="issue tracker-1 status-5 priority-2 priority-default closed" title="Bug: Add set_pwm (Closed)" href="https://git.openrobots.org/issues/111">#111</a>).</li>
<li>Allow a direct connection to a single brushless controller (with mkbl software).</li>
<li>Allow opening ttys by passing their usb serial id.</li>
<li>Replace NaN with zeroes in set_velocity() and set_throttle(), to avoid spinning at excessive velocity in case of a bug (<a class="issue tracker-1 status-5 priority-2 priority-default closed" title="Bug: NaN command to brushless controller (Closed)" href="https://git.openrobots.org/issues/102">#102</a>).</li>
</ul>
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<p><a href="http://www.openrobots.org/distfiles/mikrokopter-genom3/mikrokopter-genom3-1.6.tar.gz" class="external">mikrokopter-genom3-1.6.tar.gz</a></p> mikrokopter-genom3 1.5 releasedhttps://git.openrobots.org/news/632016-11-09T16:21:23ZAnthony Malletanthony.mallet@laas.fr
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<ul>
<li>Add a notch filter removing most of the propellers mechanical vibrations. Parameters can be tuned via a set/get interface.</li>
<li>Process only one message at a time on the tty channel. This provides a better scheduling on a loaded machine.</li>
<li>Allow individual motor start and stop. mikrokopter::disable function may now be called while motors are spinning. This will stop the designated motor id.</li>
</ul>
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<p><a href="http://www.openrobots.org/distfiles/mikrokopter-genom3/mikrokopter-genom3-1.5.tar.gz" class="external">mikrokopter-genom3-1.5.tar.gz</a></p> mikrokopter-genom3 1.4 releasedhttps://git.openrobots.org/news/572016-08-18T15:52:43ZAnthony Malletanthony.mallet@laas.fr
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<ul>
<li>Initialize the disabled flag of motor data during startup</li>
<li>Make the stop() service an activity, and let it wait until motors are stopped</li>
<li>Fix the velocity set when stopping the servo activity</li>
<li>Add an acceleration ramp when starting the servo activity</li>
<li>Log the commanded and measured propeller velocities in the log file</li>
</ul>
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<p><a href="http://www.openrobots.org/distfiles/mikrokopter-genom3/mikrokopter-genom3-1.4.tar.gz" class="external">mikrokopter-genom3-1.4.tar.gz</a></p> mikrokopter-genom3 1.3 releasedhttps://git.openrobots.org/news/472016-05-17T13:59:26ZAnthony Malletanthony.mallet@laas.fr
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<ul>
<li>Require tk3-mikrokopter 1.6 and implement the new signed velocities</li>
</ul>
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<p><a href="http://www.openrobots.org/distfiles/mikrokopter-genom3/mikrokopter-genom3-1.3.tar.gz" class="external">mikrokopter-genom3-1.3.tar.gz</a></p> mikrokopter-genom3 1.2 releasedhttps://git.openrobots.org/news/412016-04-15T13:04:46ZAnthony Malletanthony.mallet@laas.fr
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<ul>
<li>Update the controller interface to read propeller velocities instead of wrench.</li>
</ul>
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<p><a href="http://www.openrobots.org/distfiles/mikrokopter-genom3/mikrokopter-genom3-1.2.tar.gz" class="external">mikrokopter-genom3-1.2.tar.gz</a></p> mikrokopter-genom3 1.1 releasedhttps://git.openrobots.org/news/352016-03-21T15:20:22ZAnthony Malletanthony.mallet@laas.fr
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<ul>
<li>Implement more precise timestamping of data (motor data, imu) from flight controller.</li>
<li>Implement full IMU calibration (requires a minimum of 10 different static poses).</li>
<li>Add a logging request.</li>
<li>Let the start() service detect if some motors are failing to start.</li>
<li>Add a 'set_wrench' service, allowing to set a desired wrench once (useful only if called periodically).</li>
<li>Fixed minor issues</li>
</ul>
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<p><a href="http://www.openrobots.org/distfiles/mikrokopter-genom3/mikrokopter-genom3-1.0.tar.gz" class="external">mikrokopter-genom3-1.0.tar.gz</a></p>