2023.02

New functionality

• Out of tree support for controllers to make it easy to add a custom controller from an app
• Support to configure ESCs with BLHeli Configurator
• Added an UKF estimator (experimental, does not support all positioning systems)
• Possibility to reformat the persistent storage and wipe all data

The release also contains changes for improved testability and to support python bindings, as well as a number of bug fixes and stability improvements.

Deprecated functionality

This functionality is deprecated and will be removed in a future release. See the documentation for each item for information on which functionality to use instead.

• NEW - function appchannelHasOverflowOccured(), removed after August 2023
• NEW - parameter deck.bcDWM1000, removed after August 2023
• NEW - parameter commander.enHighLevel, removed after August 2023
• Function appchannelSendPacket(), removed after August 2023
• Function appchannelReceivePacket(), removed after August 2023
• Function sitAwTuDetected(), removed after August 2023
• CRTP message, Port=CRTP_PORT_SETPOINT_HL(8), command=COMMAND_TAKEOFF(1), removed after August 2023
• CRTP message, Port=CRTP_PORT_SETPOINT_HL(8), command=COMMAND_LAND(2), removed after August 2023
• Log group ext_pos, removed after August 2023
• Parameter lighthouse.bsAvailable, removed after August 2023

What's Changed

• Updated docs: supported platforms by @krichardsson in #1172
• Updates to action scripts by @krichardsson in #1173
• Support to configure ESCs with BLHeli Configurator by @victorhook in #1170
• Set max velocity for PID controller by @krichardsson in #1176
• USD deck: parser and plotter improvements by @whoenig in #1181
• Mellinger: support to change gains in bindings by @whoenig in #1180
• Test framework improvements by @krichardsson in #1183
• Params: add missing callback for writeByName by @whoenig in #1185
• Add handling of rx fail for Loco by @krichardsson in #1188
• flow sensor eKF update minor fixes by @hmllr in #1189
• Ukf by @keffklau in #1159
• Change loco deck id to bcLoco by @krichardsson in #1196
• Adjusted battery test and made it configurable + clean-up by @tobbeanton in #1192
• Added paramNotifyChanged() to let apps notify the core when they modify the value of a parameter programmatically by @ntamas in #1193
• Refactor kalman estimator by @krichardsson in #1194
• Fix build that was broken after merge by @krichardsson in #1200
• Use wrapped matrix function by @krichardsson in #1201
• Update openocd_gdb_debugging.md by @hmllr in #1202
• Removed unused files by @krichardsson in #1199
• Prevent estimator tasks from running once at start up by @krichardsson in #1203
• fix typo in name of Kalman estimator by @ntamas in #1206
• Update kve fragmentation by @krichardsson in #1209
• Add reformat of storage by @krichardsson in #1208
• Always generate version information by @krichardsson in #1210
• Add OOT controller support by @krichardsson in #1211
• Rename "any" controller and estimator by @krichardsson in #1213
• Added docs on static and dynamic memory by @krichardsson in #1212
• Fix typos in comments in pm_stm32f4.c by @valeriyvan in #1215
• Fix spelling recieve => receive by @valeriyvan in #1216
• Fix doc comment in config.h by @valeriyvan in #1218
• Fix typo depreciated => deprecated by @valeriyvan in #1219
• Fix typo by @valeriyvan in #1220
• Fix typos in crtp_platform.md by @valeriyvan in #1224
• Fix typos in pwm-to-thrust.md by @valeriyvan in #1223
• Fix typos in memory_management.md by @valeriyvan in #1222
• Housekeeping by @valeriyvan in #1221
• Clarify LH documentation by @krichardsson in #1225
• Fix typos by @valeriyvan in #1226
• Fix typos by @valeriyvan in #1227
• Fix typo in trajectory_formats.md by @valeriyvan in #1228
• Added docs about deprecations by @krichardsson in #1229
• Deprecated enHighLevel by @krichardsson in #1230
• Move general information to bitcraze-website by @krichardsson in #1231
• Add docs for a few more memory mappings by @krichardsson in #1232
• Enable setting motor power level through MSP by @victorhook in #1214
• Fix python wheel build of the python binding by @ataffanel in #1184
• Make paramSetXXX() functions non-blocking by @krichardsson in #1235
• Removed obsolete lh scripts by @krichardsson in #1236

New Contributors

• @hmllr made their first contribution in #1189
• @keffklau made their first contribution in #1159
• @valeriyvan made their first contribution in #1215

Full Changelog: 2022.12...2023.02