News

Fix motor data sequence number (giving wrong apparent period) in servo mode
Reset servo PID when switching motor direction
Avoid sending zero throttle in Bi-DSHOT mode as this breaks when reversing the motor direction
Fix current consumption data not reported in Bi-DSHOT servo mode (still not working with some 4-in-1 ESCs)
Fix potential hangup when closing MKBL I2C connection
Fix potential MKBL message loss due to buffer full if an end-of-message marker is corrupted or missing.
Drain MKBL messages before closing (allowing the stop command to pass)
Ignore I2C 'bus error' flag according to STM32F765 errata sheet
Enable MKBL I2C hardware digital filter to tolerate more spurious crosstalk spikes
Lower MKBL I2C bus timeout detection
Remember last motor log rate to reconfigure it in case of motor bus error
Improve strategy for restarting failed I2C bus (sensor or mkbl)
Update MKBL motor polling strategy to be always fair even if the sending channel is saturated.
Fix potential recursion in 'power on' events when battery has short temporary glitches
Record minimal battery level between to log samples (to detect low peaks)
Update kill-switch to just discard any motor command instead of stopping all communication (in particular don't close USB tty)
Update LEDs used for kill-switch (disambiguate from motor/sensor bus error)
Improve some diagnostic messages

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.

Fix sensors reading when usb is hotplugged.
Fix magic sequence detection for software reset.
Log incoming USB messages dropped because they are too long.
Add a software flow control in the USB CDC.
Add CAN bus and UART 8 support through second USB CDC. Raw messages are encapsulated in tk3 messages starting with "^4" and "^8" respectively.
Add tk3-mux helper program to present individual CAN and UART pty devices to the host computer. CAN bus pty is compatible with slcand(1) API.
Update to latest chibios 19.1.x (no functional change).

Fix minor build issues depending on the packaging of arm-none-eabi-gcc on various systems

Aerial Robotics Testbed » telekyb3 » tk3-paparazzi