release firmware v0.68

firmware binaries & gui/o323bgc-release-v068-v20150328/LICENCE.txt

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+LICENCE
+5 November 2013 - 28 March 2015
+(c) www.olliw.eu
+
+The project called simply as STorM32-BGC consists of several parts, such as the STorM32-BGC controller
+hardware, the o323bgc firmware, and the graphical user interface o323BGCTool. This licence covers the
+terms of usage for the o323bgc firmware and the o323BGCTool graphical user interface. For the terms of
+usage of other parts please consult the respective locations, in particular the project web page.
+
+project web page: http://www.olliw.eu/2013/storm32bgc/
+
+
+LICENCE/TERMS OF USAGE for o323bgc firmware:
+--------------------------------------------
+The o323BGC firmware is free (but not open source). Besides unlimited private use you are also granted
+the permission to use it for commercial purposes under the condition that (1) you don�t modify the
+firmware, e.g. remove or change copyright statements, (2) provide it for free, i.e. don�t charge any
+explicit or implicit fees to your customers, and (3) correctly and clearly cite the origin of the firmware
+and the project web page in any product documentation or web page.
+
+
+LICENCE/TERMS OF USAGE for o323BGCTool graphical user interface:
+----------------------------------------------------------------
+The o323BGCTool software is open source (but see below). Besides unlimited private use you are also
+granted the permission to use it for commercial purposes under the condition that (1) you don�t modify
+the software, e.g. remove or change copyright statements, (2) provide it for free, i.e. don�t charge any
+explicit or implicit fees to your customers, and (3) correctly and clearly cite the origin of the software
+and the project web page in any product documentation or web page. 
+
+Comment: The GUI software is based on libraries, which I am using since nearly 10 years and which I have
+modified over time in several places I can�t remember anymore. Furthermore, it is written in Perl using
+Win32::Gui, which is not maintained anymore. It would take me an enormous effort to build a working
+distribution. I hence don�t publish the complete code but just the �master� perl source file, which
+however contains all relevant code.

firmware binaries & gui/o323bgc-release-v068-v20150328/REVISION.txt

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+v0.33:
+ - suggestion: GUI: rc pitch range extended to +-120� (hexakopter/Dario)
+ - input_getfunctionvalues(), input_changevirtualconfiguration() simplified
+ - Setup parameters deleted: RcMidMode, RcRate, RcExpo, Setup parameters rearranged, mavlink cmds rearranged
+ - extend calibration time to 2secs to allow AHRS to settle, shortened AHRS T to 0.1f and 10.0f
+ - do overall acc normalization at calibration, this doesn't do much however
+ - AUX2 handling for v1.3 boards added, AUX01_PUSH, AUX012_PUSH added
+VERSION RELEASED as version v0.33 on 19.June.2014
+v0.34:
+ - amplitude in auto motor direction detection increased
+ - level detection improved, uses filtered angle
+ - suggestion: GUI: write+store in IMU and motor configuration tabs (yang/wdaehn/Werner)
+v0.35:
+ - suggestion: GUI: disable/enable handling for some functions (yang/wdaehn/Werner)
+ - suggestion: renamed and "press","push" to "switch","latched" (LoneStriker/irun4fundotca)
+ - meaning of IMU2 Configuration changed
+ - gyro filter added, Setup.GyroLPF
+ - Setup.GimbalConfiguration changed to Setup.SafteyConfiguration
+ - handling of some Setup settings via IS_ macros
+v0.36:
+ - bug: error in orientation_from_angles() for yaw<>0 corrected, didn't affect previous firmware versions
+ - bug: angle overturn calculation was incorrect
+ - GUI: yaw offset range changed to +-30�, offset step 0.5�, angle plot +-200�, debug info in read/write removed
+ - input debounce range for +250 state changed to +223...+277
+ - use of ALLAXES macro in live data, safes a lot
+ - do angle overturn calculation for pitch&yaw
+ - 2nd IMU support
+v0.37:
+ - bugs: 2:yaw pan by 180� yields pan steps, 4:yaw1,2 run crazy after long while (hexakopter/Dario) -> handle +-180� thing in imu_Mahony for YawAngleTarget and _YawAngle
+ - bug: motorusage != normal -> set also pid Cntrl to zero
+ - bug: i2c_enforcerecover() also for 2nd IMU
+ - SETUP_OffsetXXX not needed
+ - reset imu then orientation is changed (not very important, with USB only LEVEL is reached and then time constant is fast)
+ - rename MAVLINK_CMD_SETAUXKEYS to MAVLINK_CMD_ACTIVEPANMODESETTING
+ - motor usage = disabled as default
+v0.38:
+ - removed using _StartupOscillationDetectionThreshold
+ - YawT for yaw2 set to 400, YaT for yaw1 re-enabled
+ - level pitch&roll max set to 120�,75�
+VERSION RELEASED as version v0.38e on 10.Aug.2014
+v0.39:
+ - bug: in _imu_do_lpf4imusensor()
+ - bug: CntrlI rollover by 360� (or maybe 180�), not fpoleangle
+ - bug: MotorPos limit to +-30000 removed
+ - GUI: pitch and roll offset limited to +-5�, 0.05� steps (yaw offset range should remain large)
+ - motor poles = 14 as default
+ - feedforward: smooth handling of changes in feedforward gain and/or imu2 configuration
+ - Imu2Params handling modified
+ - signs in PID control loop changed
+ - calibration commands and functions implemented
+ - serial cmd stores calib data in Setup&EEPROM, but gzero is not activated (keep startup values)
+ - startup calibration data in separate structure, acc startup calib not used
+ - GUI: Calibrate Acc tab
+VERSION RELEASED as version v0.39e on 18.Aug.2014
+v0.40:
+ - bug: in feedforward (hexakopter/Dario)
+ - oscillation detection
+VERSION RELEASED as version v0.40e on 24.Aug.2014
+v0.41:
+ - bug: end of relevel detection corrected
+ - PanExpo for soft limiting pan
+ - RcHysteresis
+ - RcOffset, replaces Offset and in fact does it better, Offset now only for level adjustment, works with relevel
+VERSION RELEASED as version v0.41e on 26.Aug.2014
+v0.42:
+ - fixed point q (see also http://www.olliw.eu/2014/fast-functions/)(110us instead of 250 us)
+ - fixed point AHRs params
+ - fixed point A,R,G (70us)
+ - YawT scale changed, fixed point YawT, renaming to f
+ - fixed point tIMUSensor,
+ - fixed point _imu_confidence, further little improvements in imu code
+ - setup_handle_calibration_change() without intermediate float
+ - better code for (s16)(10000.0f*q24_to_float(f))
+v0.43:
+ - pid control structure: new axis mixing algorithm, pan mechanism, motor predictor, yaw2 predictor; solves also these bugs:
+ - bug: 90�yaw then phh and pitch, yields pitch pan errors (hexakopter/Dario)
+ - bug: yaw pan, and the "pitch" along stick yields roll error (careyer/Thomas)
+ - oscillation detection moved to later
+ - acc method advanced as default
+ - UART3 remapped changed to UART4
+ - green led debug mode
+VERSION RELEASED as version v0.43e on 20.Sep.2014
+v0.44:
+ - bug: standby, s32
+ - bug: RcOffset were not set
+ - bug: Imu2 offset correction at startup was only for pitch,
+ - bug: do Imu2 startup offset correction only for pitch&roll, yaw doesn't work
+ - bug gui: COM range extended to 999 (GekoCH/Andy)
+ - R2 lpf filter (doesn't seem to do much, though), set to 1 as default
+ - fwrap180() for YawT
+ - serial moved
+ - Imu2 offset startup correction handling improved
+ - GyroLPF = 1 as default
+ - handling cases then a motor is off, fall back to default
+ - handling of IMU2 NOT present in the PID aftermath
+v0.45:
+ - bug gui: allow up to com999  (GekoCH/Andy)
+ - ppm with 12 channels added (GekoCH/Andy)
+ - dead-band in pan mode for yaw
+ - bug: Gyro2Zero was set to g1zero in serial (as it wasn't used so far, didn't had any impact)
+ - bug gui: in 6 point calibration zeros were too large by a factor of 2
+ - pid parameters handling faster
+ - deadband in panmode for all three axes
+v0.46:
+ - gui: align yaw axis tool
+VERSION RELEASED as version v0.46 on 1.Oct.2014
+v0.47:
+ - bug: mavlink_crc_accumulate_buffer() used uint_8 length
+ - tMotorDirDetect
+ - PRODUKTIONRELEASE in setup restructured
+ - script programming introduced
+v0.48:
+ - bug: ReCenter cleared for all axes if one was in absolute (ransalp/Klaus)
+ - bug: input_getfunctionvalues() rcmid (didn't had any consequences)
+ - bug claim: "There will also no connection to the GUI if the IMU is not connected or the IMU connection is broken." NO, is OK for both USB & UART
+ - irled: Panasonic, gives one 50ms pulse (nicodh)
+ - script processor redesigned
+v0.49:
+ - bug: neither on-board nor extra IMU2 is present, removed hardstop, removed motor off (Ernst)
+ - bug gui: allow up to com999 also for flashing (GekoCH/Andy)
+ - gui: edit board name tool added (GekoCH/Andy)
+ - virtual extended up to 12 (GekoCH/Andy)
+v0.50:
+ - acc 8000 tweak (GekoCH/Andy,KingDaKa/Andre)
+ - 'xz' command only does pitch&roll
+v0.51:
+ - 'xy' command added, Align Yaw Tool adapted
+VERSION RELEASED as version v0.51 on 10.Oct.2014
+
+v0.512e:
+ - bug gui: Load and Save settings were broken(Greg Covey)
+ - bug gui: RESTORE wasn't handled
+ - bug: restore script cmd should change all parameters, except 'Script Control'
+ - gui: Update Tool, Configure Gimbal Tool added, and tabs restructured
+v0.52:
+ - gui: Motor Configuration parameter deprecated, i.e. moved to hidden expert tab
+ - mavlink MAVLINK_CMD_SETSCRIPTCONTROL added
+v0.53:
+ - bug: _imu_do_lpf4imusensor(), not really important
+ - bug: pan deadband was linked to Setup.PanDeadBand.Yaw
+ - beeps: beeps with motors, at Normal, Store, SetCalibration (suggested by GekoCH/Andi)
+ - lander below yaw motor: correct startup now with PID=0 (suggested by nicodh)
+ - TASK_CALIBRATE_RCTRIM instead of STATE_CALIBRATE_RCTRIM
+ - RcAdcLPF: lpf for POT
+ - PanDeadbandHysteresis: hysteresis for pan deadband edge, use with care!
+ - script: restore changed to restoreall, restore param added
+ - script: active from the beginning
+ - script: WAIT command
+ - setup_init(): carries over values from v0.51 layout
+ - beeps: no Vmax scaling, on/off better
+v0.54:
+ - script: extension to 4 scripts in parallel
+ - script: script control for scripts 2,3,4 can be changed from script1
+v0.55:
+ - baudrate adjustable, 'xu' command added, stores in EEPROM (suggested by flyingbison)
+ - beeps: several modes, beep on pan change & all (suggested by GekoCH/Andi)
+ - beeps: rctrim @ basic, recenter @ all
+ - behavior of 'xn' command changed, stores now in EEPROM
+ - uart_transmit(), usb only once
+v0.56:
+ - gui: bt auto configure adapted to uart baudrate changes
+ - PanDeadbandHysteresis put to the front, got tested and found to be good by GekoCH, is identical for all three axes
+VERSION RELEASED as version v0.56 on 28.Nov.2014
+
+v0.57
+ - bug: pid_init() corrected
+ - bug gui: yaw alignment allows +-45� (wdaehn/Werner)
+ - #define SECONDIMU removed, oscillation detection removed
+ - Set_System() renamed to USB_Set_System(), moved USB_Interrupts_Config() in init
+ - usb_init() first, uart_do_serial() with return, 'xx' changed to 'xX' for hard reset,
+ - MAININIT scheduler, 'xx' to restart, 'xW'
+ - gui: Calibration Tool significantly extended
+VERSION distributed as version v0.57e on 13.Dez.2014
+v0.58:
+ - bug gui: com write params corrected, solves hang up when wrong com port is selected
+ - gui: $ExecuteCmdBTAddedTimeOut added to ini
+ - RcHysteresis set to 5 as default
+ - rcchannels-lib: rc_status: failsafe flag reset on disable/enable; in rc_init & rc_disable: PPM_DEFAULT; no _disable()
+ - spektrum support
+VERSION distributed as version v0.58e on 25.Jan.2015
+ - bug gui: com write params corrected, solves hang up when wrong com port is selected
+ - gui: $ExecuteCmdBTAddedTimeOut added to ini
+ - RcHysteresis set to 5 as default
+ - rcchannels-lib: rc_status: failsafe flag reset on disable/enable; in rc_init & rc_disable: PPM_DEFAULT; no _disable()
+ - spektrum support
+VERSION distributed as version v0.58e on 25.Jan.2015
+v0.59:
+ - bug: spektrum two-frame case wasn't handled correctly??
+ - ir: use IR_RCC_APBxPeriphClockCmd()
+ - uart2_init_off()
+ - sbus support, tested by nicodh, seems to work
+ - gui: 'gimbal support' renamed to 'full'
+ - 16 virtual channels (confirmed by nicodh to work)
+ - spektrum sbus struct simplified
+v0.60:
+ - gui: simplified pid tuning
+ - eeprom version adaption
+VERSION distributed as version v0.60e on 29.Jan.2015
+v0.61:
+ - bug gui: Configure Gimbal Tool broke after reset with UART, but not with USB, solved
+ - gui: simplified PID tuning, handling improved
+ - gui: init tool windows at first call
+ - gui: Share Settings redone
+ - gui: help
+ - Setup.MotorConfigfuration renamed to MotorMapping, and similarly in o323bgc-motor.h
+ - ImuMapping
+ - eeprom carried over from L056, L060
+ - Offsets shift zero of imu1 acc sensor data
+VERSION distributed as version v0.61e on 3.Feb.2015
+v0.62:
+ - bug: usb OUT_DATA_SIZE  (VIRTUAL_COM_PORT_DATA_SIZE-4)
+ - DEBUG_STARTUPSENSORMESSAGES
+ - old mavlink: is called now mavlinkrc, startbyte changed to 0xFD
+ - real mavlink:
+   *tested:   heartbeat, param_value, param_request_list, param_set,
+   *prepared: command_ack, param_request_read, command_long
+   *setup parameters: MavSystemId, MavComponentId, MavConfiguration,
+ - first attempt towards Remote.Angle
+v0.63:
+ - bug gui: Acc16PCalibrationCalc1PointCalibration() limits to narrow (kurtrdoc)
+ - bug gui: ShareSettings could get outside of desktop window (irun4fundotca)
+ - real mavlink: all parameters, some are NU
+ - real mavlink: set of parameters with change flag //untested //could be improved
+ - Remote.Angle should work exactly as Remote.Input //not thoroughly
+ - eeprom carried over from L056, L060, L061
+VERSION distributed as version v0.63e on 11.Feb.2015
+ - bug gui: mavlink rc GetData() failed, too short length (lvale)
+ - bug gui: Configuer Gimbal Tool store to eeprom failed
+ - gui: acc calibration and configure gimbal tool streamlined with connect stuff
+VERSION distributed as version v0.63ec on 13.Feb.2015
+v0.64:
+ - bug gui: fixed status bar font & font size (lvale)
+ - bug gui: Execute_IsRunning used for main buttons
+ - bug: BT configure tool 'a'...'h' in names, changed to use '@' (lvale)
+ - bug: RcSpeedLimit=0 didn't work in relative mode
+ - bug: RcOffset, now limited separately to avoid strange looking situations
+ - speed limiter and min-max limiter swapped, works equally fine
+ - Remote.Angle outside of min-max limiter, infinite Remote.Angle control, use is controlled by Remote.AngleFlags
+ - recenter clears also Remote.Angle in both rel and abs mode
+VERSION distributed as version v0.64e on 25.Feb.2015
+v0.65:
+ - bug: Remote.AngleFlags worked only for pitch, not roll, yaw
+ - gui: simple motion control support
+VERSION distributed as version v0.65e on 27.Feb.2015
+v0.66:  (L066)
+ - bug gui: packed values were displayed wrongly
+ - bug gui: $MaxConnectionLost was zero
+ - bug: #define SETUP_ScriptControlx were wrong
+ - bug: input_reset(0xFFFF), and not 0xFF;
+ - gui: Execute_IsRunning systematically for all buttons and clicks, Execute_IsRunning in main timer, FlushPort in timer
+ - gui: Motion Control SetParameter() command
+ - some optimizations in rcchannels.h, spektrum.h
+ - mavlink buf usage changed
+ - doserial 4 times per loop
+ - pwmout, speed, minmax, active from start on
+   Setup adapted, Remote adapted, gui adapted, MavlinkSetup adapted, Mavlink RC cmds adapted, Mavlink RC Tool adapted
+   Motion Control adapted
+ - MAVLINKRC_CMD_SETPITCHROLLYAW
+ - 180 MAV_CMD_DO_SET_PARAMETER, (nu) 220 MAV_CMD_DO_MOUNT_CONTROL_QUAT in NED
+ - STorM32 specific Mavlink commands, see mavlink_storm32.xml
+   236 MAVLINK_MSG_ID_PARAM_READ2, 237 MAVLINK_MSG_ID_PARAM_SET2, 238 MAVLINK_MSG_ID_PARAM_VALUE2
+   234 MAVLINK_MSG_ID_COMMAND_TARGET_SPECIFIC, 235 MAVLINK_MSG_ID_COMMAND_TARGET_SPECIFIC_ACK
+ - eeprom update things changed a bit
+ - eeprom update from L056, L062 (=v0.65e)
+VERSION distributed as version v0.66e on 6.Mar.2015
+v0.67:  (L066)
+ - bug: eeprom update, INPUTFUNCTIONUNDEFINED_L056, INPUTFUNCTIONUNDEFINED_L062
+ - bug: msg_id, target sys/comp wrong in COMMAND_TARGET_SPECIFIC_ACK_CRC
+ - mavlink_message_t is never allocated, so use payload64[64]
+ - eeprom update from L056, L062, L066: v0.56,v0.65e,v0.66e
+VERSION distributed as version v0.67e on 10.Mar.2015
+v0.68:
+ - bug: MAV_CMD_DO_MOUNT_CONTROL memcpy instead of type cast for param6
+ - bug gui: displayed bytes when getcommand
+ - gui: Configure Gimbal Tool checks for presence of imu(s)
+ - mavlink-wrapper crc simplified
+ - maximum serial chars per cycle, but only one command
+VERSION RELEASED as version v0.68 on 28.Mar.2015
+
+
+
+