rotorcraft-genom3 3.3 released

Added by Anthony Mallet 5 months ago


  • Don't fail servo() when motors are starting (#336)
  • Fix connection with 0 (unchanged) baudrate, especially useful for pure USB connections.
  • Log calibration data when requested even if calibration fails
  • Avoid numerical unstability during sample acquisition for calibration (#339)
  • Add support for the teensy board running teensyshot with tk3 comm
  • Add PID tuning set_pid() service (only for Teensy boards)



rotorcraft-genom3 3.2 released

Added by Anthony Mallet over 1 year ago


  • Update IMU resolution on chimera devices (requires chimera-1.1)
  • Add a duration parameter to set_zero
  • Add set_zero_velocity to update gyroscopes biases only
  • Add get_sensor_average to compute IMU and magnetometer average over a period
  • Add optional log file to IMU calibration procedure for visual inspection
  • Don't calibrate magnetometer if it is disabled by set_sensor_rate
  • Add set_calibration_param to tune the sensitivity of motion detection
  • Improve convergence of magnetometer calibration



rotorcraft-genom3 3.1 released

Added by Anthony Mallet over 1 year ago


  • Add calibrate_mag() service to calibrate magnetometers only.
  • servo() service interrupts itself (#271).
  • Improve magnetometers calibration by using a true sphere fitting algorithm as for the accelerometer (and fix a bug in sample acquisition).
  • Warn if input is scaled down because of sensor rate.
  • Log calibration matrices in log file, as a comment.



rotorcraft-genom3 3.0 released

Added by Anthony Mallet over 2 years ago


  • Add support for tk3-paparazzi firmware.
  • Add 'mag' port, exporting magnetometer data (if present, only on paparazzi).
  • Update set_sensor_rate() to accept a magnetomer streaming rate.
  • Extend IMU calibration with a simple magnetomer calibration procedure (if present).
  • Replace obsolete IMU band filter to reject vibrations by a new 1st order low pass filter, with independent settings for accelerometer, gyroscopes and magnetometers.
  • Check sensor rate in the start() service and wait until it reaches 80% of required rate.
  • Gracefully slow down motors when sensor rates drops below 80% of the requested rate.
  • Drop optinal second tty parameter in the connect() service (never been used).
  • Support baud rate 0 in connect() for native USB ttys without baud rates.
  • Support rate 0 in set_sensor_rates().



mikrokopter-genom3 renamed to rotorcraft-genom3

Added by Anthony Mallet about 3 years ago

This component will control newer paparazzi-based hardware, so the name 'mikrokopter' would be a misnomer. rotorcraft-genom3 is just a rename of mikrokopter-genom3, so it is fully compatible.

The old project mikrokopter-genom3 has been closed and marked as read-only. The git repository is still accessible read-only, but it will receive no updates.

You are encouraged to switch your clones to the new remote using for instance:

git remote set-url origin ssh://


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