Release notes#

Version 2.9.1#

[wind] new option to make wind speed depend on distance to ground.
[camera] shot noise: fix lens shading effect (it had no effect)
[camera] wide angle cameras: fix unwanted “seam” artifacts in some situations
[camera] wide angle cameras: new projection type supported.
[camera] distortion effect closer to reality. Also “equidistant” method has been changed.
[world] user can now add external 3D objects to the scene.
[AMS] in HMI, a marker is shown on top of the actor tracked by the drone.
[cmd line] the option --time=rtc is taken by default.
[cmd line] option --datalog-quiet to reduce the amount of data logged into telemetry files.
[HMI] better visualization of depths
[stability] various fixes to improve stability. Also better handling of unrecoverable errors.

[doc] installation section and quick start have been updated with new server URLs.

Version 2.8.2#

[camera] new type of camera: “distance”.
[camera] add option to turn regular “RGB” and “distance” cameras into wide angle mode.
[camera] negative auto-exposure speed makes AE convergence instantaneous
[camera] dirt effect is now working (if manually activated). One texture is available so far.
[camera] offsets over camera position and orientation can be provided as mathematical expression (exprtk syntax).
[sky] ability to load external HDRI skies.
[cmd-line] -ams-config-file is replaced by -config-file, this file becoming more generic.
[AMS] ability to adjust tag position on a vehicle, either at run time by using the web dashboard, or through the configuration file passed in command line.
[dbg-dist] the special camera dbgdist can be configured to provide depths instead of distances.
[motors] ability of adjust motor position and orientation using mathematical expression (exprtk syntax).
[world] “storage_house” is replaced by “factory”, an indoor scene with larger dimensions.
[world] landscape_ecosystem: new map with Parrot Sky and fog removed.
[HMI] location of any actors in the scene is now accessible in the left panel
[physics] ability to set the global altitude of the scene using the web dashboard.
[misc] various improvements/fixes to get better stability.

Version 2.7#

[animations] new parameter wpo_factor to freeze or amplify foliage animations
[sky] new parameter to set the size and the brightness of the sun: sun_brightness and sun_size
[IMU] new option to simulate rubber effect
[IMU] fix fsync data
[remote_ctrl] Port forwarding mode has been fixed and has a new API. Command line option port-forwarding is deprecated. The machine parameter remote_ctrl_ip needs to be used instead.
[camera] accept frame rate set to zero
[gps] new empirical error mode “bad quality”
[world] fix blurry textures in sphx_tests/obstacle_avoidance level

Version 2.6#

[camera] new type of camera: optical flow
[camera] fix record of large images + some other fixes to improve stability
[camera] distortion effect: the expected resolution is now properly computed
[telemetry] by default, size and number of tlmb files are limited. New parameters added to sphinx command to change these limits.
[ulog] clear ulog buffer as soon as a new firmware instance starts
[IMU] optionally IMU can generated “fsync” signal to synchronize over a given camera
[drone-wifi] some fixes, in particular in sphinx-drone-as-wifidongle

Version 2.5.1#

[world] static lights are back in all worlds that can build with this kind of lights. This is the default setting to provide better real-time performance.
[sky] three modes are now available: static, dynamic and hdri
[cameras] added “burnt sky” effect - not activated by default. That simulates photodiode saturation in camera sensor when exposures and/or lights are high.
[cameras] shot noise can be configured to dynamically vary according to the sensor exposure - not activated by default.
[cameras] new distortion method taken from UE4 plugin examples.
[cameras] new static camera parameter to simulate non-square pixels
[misc] desktop icon added
[storages] internal and external drone storages are now always simulated, and therefore have a limited and configurable size.
[precise_motion] new field “relative_position” added.
[precise_motion] fix “pause” action.
[wind] activates wind after the full startup
[firmwared] permissions added for “/update”, needed by missions
[system] support of Linux kernel 5.13
[system] Debian 11 supported (experimental)

Version 2.4.1#

[HMI] adjusted gamma to to fix washed-out colors
[HMI] ability to choose system coordinate
[HMI] adapt resolution scale to screen resolution. (less GPU consumption with 4K screens)
[HMI] ability to select any object from the scene and get information about it
[HMI] new panel to browse all objects from the scene
[HMI] ability to set user and follow cameras speed
[3D-grid] several fixes and improvements in 3D-grid segmentation mode
[system] fake storages are now formatted at startup by default.
[wifi-dongle] command sphinx-drone-as-wifidongle now always requires the drone model to be simulated.
[wifi-dongle] fix Wi-Fi interface availability after reset or firmware reboot.
[worlds] landscape_ecosystem: progressive forest map got flattened.
[worlds] industrial_city: several fixes for 3D-grid segmentation mode
[worlds] carla: rearrange some buildings for 3D-grid segmentation mode
[gimbal] ability to shift joint pose at run-time
[sensor] new sensor type dbg_dist for test purpose only

Version 2.3#

[HMI] UE4 applications have a brand-new HMI: Real-time performance improved. Panels, menus and new features added. More info in UE4 Application HMI.
[segmentation] Added new working mode for the segmentation cameras. The “3D-grid” mode and its application are described in Recipe: 3D-grid segmentation to evaluate 3D scanning
[worlds] All worlds now have the dynamic sky.
[worlds] “dark_forest” improved with better LOD
[worlds] Several maps have been renamed to respect the naming convention.
[AMS] Speed of vehicles can be adjusted precisely by specify a value in km/h at each way point.
[GPS] Generalize the use of prerecorded GPS data to all GPS sensors.
[GPS] Added error model dedicated to smartphone
[handling] in JSON script, keyword ‘pose’ is replaced by ‘step_pose’, which expects only absolute coordinates.
[debug] fake storages are properly handled after world reset.

Version 2.2#

[UE4] moved to UE4 version 4.26.2
[sky] several worlds feature a highly configurable sky. Clouds, light, sun can have their parameters changed at run time.
[rendering] Drastically reduced ghosting effect due to temporal anti-aliasing.
[HMI] changed the way the camera field of view is represented in the HMI.
[Wi-Fi] Anafi Ai can be used as a Wi-Fi USB dongle like it was already possible with Anafi.
[GPS] support full usage of UBX packets
[reset] fix several issues within the reset process

Version 2.1#

[cmdline] new option -quality in parrot-ue4-xxxx command line. If set to low, Unreal Engine consumes less GPU/CPU resources.
[storages] simulates eMMC and SD-card without any physical storage device like USB key. The parameter “sdcard_serial” has been replaced by ext_storage_size and int_storage_size.
[sphinx-cli] some fixes related to command “camera”.
[wan_access] fix the usage of the option wan_access when a firewall blocks requests to public DNS servers.
[pitot] offset and scale configurable for the pitot probe model.
[IMU] new alteration parameter rot_mat_gyro
[gimbal] added Spin-Hall Magneto-resistance effect.
[debug] robustness improved during world reset.
[flaps] quadratic model and delay
[world] in level “obstacle_avoidance”, fix collisions for some objects

Version 2.0#

[doc] the overhaul of the user guide is finished. Let’s take a big jump and move to version 2.0!
[LED] Ready to simulate embedded LEDs of the drone. Can be used to make the drone visible in dark environment, but also to illuminate dark surroundings.
[cmdline] add smart auto-completion for all UE4 apps and for sphinx-cli
[world] several changes in sphx_tests. New panels added in “video” level. Some adjustments in “obstacle_avoidance” level.
[world] two new levels in landscape_ecosystem. pylons and transmission_towers. Corresponding intense light versions are also added.
[world] new level towers in industrial_city (intense light version also available).
[world] in ‘industrial_city’, ‘forest’ and ‘earth’, HDRI backgrounds replaced by vast 3D meshes of hills and mountains.
[world] in ‘earth’, fix Fremont’s GPS position.
[camera] fix use of “depth of field” effect.
[camera] fix auto-exposure when taking photo from a camera that is not currently active.
[gps] ability to set GPS coordinates via parrot-ue4-xxxxx’s command line.
[cmdline] it is no more possible to pass a .world file in sphinx command line.
[tool] sphinx-cam-cli is merged into sphinx-cli. Please use sphinx-cli camera ... instead.
[HIL] script sphinx-hil-bandwidth added to measure bandwidth over USB link

Version 1.23#

[HMI] editor mode (key F2) added in the UE4 apps. This mode allows you to easily create flight plans and actor paths.
[AMS] option tags_material to change the kind of material used for the vehicle tags.
[clocks] option --time=rtc in the sphinx command line makes the simulated RTC clock be the same as the host’s. This way, there is no more drift perceived by a remote device such as a web server.
[gps] parsing of messages CFG-MSG to set NMEA message rate
[magnetometer] added the disturbance effect due to battery current.
[world] sphx-tests/autotests: add a road with new spawn point
[world] landscape-mountains: clean up the road so the vehicle does not get stuck.
[world] forest: new levels added ‘sparse’ and ‘sparse_intense_lights’
[world] earth: added background HDRI image in all existing levels
[world] earth: added new level ‘hippodrome_map’
[handling] simplified syntax for the JSON scripts. start_pose is replaced by first_pose, which is expressed in absolute frame and is optional.
[doc] more pages added and updated.
[drones] .drone files included in the installation package contain new names for the drone. ‘anafi4k’ becomes ‘anafi’. ‘anafi2’ becomes ‘anafi_ai’.
[sphinx-cam-cli] some cosmetic improvements.

Version 1.22#

[pysphinx] added pysphinx to communicate with Parrot Sphinx in Python3
[world] vehicle_game replaced by dark_forest and industrial_city
[world] forest: added a new skybox to cover the horizon
[world] added a background to the level “Angoulême” from Earth.
[HMI] rework of the help page (displayed with F1 key)
[AMS] ability to change the tracked actor while a simulation is running.
[drone_files] .drone files installed with Parrot Sphinx have been renamed into anafi.drone and anafi_ai.drone
[drone_files] the XML structure has changed. All parameters are now on the same hierarchical level. machine_param’s attributes become XML elements.
[tools] sphinx-vipc is replaced by sphinx-cam-cli, which has the same API with some more features, uses pysphinx module, and works with both ANAFI and ANAFI Ai.
[tools] helper scripts sphinx-get-logs. It is used to easily download log files from the simulated drone or from Parrot Sphinx.
[doc] the present user guide is getting refactored. The current version is still in construction.
[cmd-line] in sphinx command line, added –json-rpc-port option to change JSON-RPC HTTP port
[system] ability to use an FTP URL as the path to a firmware.
[omniscient] the computed speed and acceleration for the tracked actor are now correct
[flaps] ability to be controlled with PWM width
[IMU/debug] in rare cases, fix world reset procedure.

Version 1.21#

[stereo_cam] more realistic depth maps thank to the tuning of the tonemapping effect. On saturated areas, the depth maps contain more N/A pixels and less infinite pixels.
[cameras] vignetting and motion blur effects are disabled by default.
[depthmap/debug] in perfect depthmap generated by Parrot Sphinx, fix the value of ‘infinite’ pixels.
[AMS] ability to load custom vehicle tags from parrot-ue4-xxxx command line.
[AMS] the option ‘-paths-file’ introduced in sphinx-1.20 has been replaced by -ams-config-file
[world] in sphxtests world, new map tof_tests added. Plus, more objects added in map obstacle_avoidance.
[intense_light/debug] in levels ‘intense_light’, fix the low part of the sky that was fully black.
[wan_access] make sure the drone setting wan_access is working whatever the current ip_forwarding configuration of the host.
[logs] make Parrot Sphinx logs more readable: less verbosity, undesired warning and error logs removed.
[telemetry/debug] avoid rare stall periods of several seconds

Version 1.20#

[AMS] current pedestrians were replaced by more realistic ones. Their names remain unchanged.
[AMS] debug: fix visibility of vehicle tags when light is intense
[AMS] pedestrian’s animation speed and translation speed are synchronized.
[AMS] new JSON-RPC param to have the pedestrian stretch out his arm so the drone can land onto his hand.
[AMS] reduce oscillations when drone is at standstill over a vehicle. this fix allows for taking off in mission “vehicle-tracking”.
[AMS] ability to load a custom actor path from a YAML file. More info here
[photo] improve the time precision of the shot
[system] fix apparmor configuration when running on Debian Buster
[system] contents of firmware dirs “/data/user-internal/missions” and “/mnt/user-internal/missions” are executable.
[system] support firmware reboot triggered by the simulated firmware itself.
[DOC] user guide has a new theme “Furo”, replacing “RTD”.

Version 1.19#

[world] new world “Landscape_ecosystem” replaces “quai_de_jemmapes”. It is a vast scene populated with forest and a road.
[segmentation cam] fixes color application which was failing randomly.
[Anafi_Ai] the gimbal bracket is now tied to the drone body, like the real drone.
[cmdline] UE4 mode is now the only possible working mode. Therefore the option “–unreal” is now implicit and deprecated.
[cmdline] sphinx command is now identical to sphinx-server, which becomes deprecated.
[cmdline] sphinx-client is renamed into sphinx-gzclient
[cmdline] some unused arguments have been removed: –interface, –hmi-port, –server-uri, –world-plugin
[real-time] ability to set the real time factor via JSON-RPC (and web-dashboard)
[firmwared] providing to Parrot Sphinx a path to a “final” folder is no more possible. Only the ext2.zip format is supported.
[firmwared] fix random denied’s from apparmor.
[cleanup] legacy drones are no more included.

Version 1.18#

[world] all “carla” levels have been upgraded, plus, a new HD level has been added
[world] no more ToF flickering in sphx_tests world
[cmdline] new argument in parrot-ue4 app command line: -list-objects. it lists up all positions and object types of a given level
[segmentation] ability to customize any object color using stencil file. more info here
[segmentation] sky is automatically set to a reserved color
[wifi-dongle] command sphinx-drone-as-wifidongle has an optional parameter to choose the drone model to be simulated. more info here
[handling] new json field to check the validity of the start position. more info here
[gps] reply to commands sent by process “gpsd”.
[reset] when resetting the firmware using the JSON-RPC command reset_firmware, the simulated filesystem is kept as it is.
[cameras] ability to record any frame format from the web dashboard. more info here

Version 1.17#

[wifi] parameter stolen_interface was too technical and is now deprecated, being replaced by wifi_iface.
[wifi] parameter wifi_iface is set by default to auto, meaning that Parrot Sphinx is going to look for a Wi-Fi interface whenever a simulation gets started.
[barometer] support of the dynamic compensation based on neural networks
[reset] after world reset, the simulated filesystem is cleared from any previous changes.
[world] the world “vehicle_game” now includes a level “intense_lights”
[obstacle] improved detection of the thin obstacles
[HIL] support of Depth from Motion
[depth maps] disparities are generated by sphinx directly in the format expected by Anafi_Ai’s stream-server in multi-stream mode.
[HMI] new panel in UE4 app to list the clients requesting rendering. Use the R key to display it.

Version 1.16#

[depth maps] depths generated by sphinx (not HIL) now simulate the quantification coming from the stereo-matching.
[lighting] three new levels are available to test stereo matching in HIL in lighting environments prone to high/low saturation.
[lighting] fix the stereo camera settings which were responsible for generating too dark images (in next Anafi_Ai releases)
[cameras] optimizations avoiding to render frames for nothing
[cameras] some fixes on the segmentation cameras
[system] Vulkan GPU mode works on PC with several GPUs
[clock] separate simulated monotonic clock and simulated Real Time Clock.
[scene areas] some fixes to use them with UE4

Version 1.15#

[system] support of Ubuntu 20.04 (a.k.a. Focal Fossa)
[system] migration from Gazebo 7 to Gazebo 11
[camera] support of segmentation camera. More info here
[camera] when a faulty firmware process freezes or stop releasing video frames, sphinx resets the related camera, and keeps running.
[AMS] GPS coordinates of vehicles correspond to the logo position
[tool] sphinx-vipc handles remote HIL depth camera
[tool] new side tool called sphinx-cli. The examples of the present user guide now use this command.
[magnetometer] automatically compute the right magnetic field according to the GPS coordinates of the scene.
[barometer] accept dynamic pressure compensation settings as they are in Colibry.
[firmwared] start up more robust to errors.

Version 1.14#

[Anafi_Ai] model 3D for DV5 prototype replacing the previous one. A recent firmware version is required to use properly the new model.
[network] new parameter in “.drone” file wan_access. When set to true, it provides Internet access to the simulated drone.
[cameras] more postprocessing effects available. In particular, “color grading” enables more realistic light saturations for ANA2 stereo cam.
[UE4] better handling when resizing the HMI window
[AMS] SUV vehicle got dirty/ugly on purpose.
[AMS] debug: actor names have no more random number at the end of the string.
[AMS] spawn locations are adjusted to have the drone directly on the car’s logo.
[gimbal] some fixes in the way hall measures are computed.
[doc] added section showing how to get scene object’s coordinates. See here
[world] new beautiful world added: “meadow”
[world] worlds ‘forest’ and ‘meadow’ have a special level where lights are set to a high intensity. More info here.

Version 1.13.2#

[GPS] fix bug in the implementation of “timemark” data message
[IMU] support frequencies higher than 1kHz
[distribs] support of Ubuntu Xenial and Debian Stretch is removed.

Version 1.13#

[GPS] support “timemark” data message
[ToF] better model implemeted
[HMI] ability to display lighting histogram over camera video frames. Use visualize_hdr parameter in web interface.
[debug] improve stability on world reset
[wifi] new name for the script turning your Anafi into a wifi dongle: sphinx-drone-as-wifidongle
[Anafi_Ai] generate a fake serial number so that colibry takes the configuration according to the hardware revision.

Version 1.12#

[real-time] improve real-time performance
[tracking] camera rendering times are now perfectly synced with gazebo. Therefore, cameras used for vehicle tracking now run smoothly, no more oscillations.
[HMI] dynamic shadows are removed from main HMI to improve performance
[unreal] migration from UE4.22 to UE4.25. This is done mainly to have better renderings, better light expositions for the drone cameras.
[depth_cam] masked pixel are simulated in the depth/disp maps generated by UE4. It follows the code given in libstereo-light.
[AMS] ability to place visual tags on the roof of the vehicles.
[sphinx-vipc] new cmd line arguments: –count, –list
[magic_carpet] the how-to in this user guide has been updated for both anafi1 and Anafi_Ai
[firmwared] provide full access to the directory “/missions”
[handling] ability to teleport the drone when it is at standstill, providing absolute position.
[handling] Stability has been improved after teleporting.
[bugfix] fix bug where the drone gets spawned and goes through the floor.

Version 1.11#

[unreal] new command line -version to show the associated sphinx version.
[unreal] ability to spawn drones on vehicles and next to pedestrians. It is now possible to take off a drone from a moving vehicle. More info here:
[unreal] animations (like folliage), vehicles, pedestrians all run at the pace of the simulation. They follow the current real time factor.
[unreal] flightplan trajectory are now displayed when running both Dronelab and “anafi2-pc”
[HMI] moving user camera while the drone is moving is now possible
[HMI] To exit Unreal apps, now use Alt+F4 instead of “Ctrl+Q”
[camera] Ability to create at runtime camera’s misalignments, in angles but also in positions.
[camera] lens flares are now available. They are only activated on Anafi_Ai’s stereo camera. See this section
[camera] add world orientation information in Parrot Sphinx’ telemetry.
[vehicles/pedestrians] they now stop once they finish the path (if this is not a loop)
[vehicles/pedestrians] all actors are now paused at start by default.
[vehicles/pedestrians] abiliby to adjust the speed of all actors using a factor available in the web dashboard (and via JSON-RPC)
[HIL] it is possible to run sphinx in HIL mode with anafi2-pc (in addition to Dronelab environmement). To do that, you need to set the new param with_depth_hil to 1.
[modeling] add new type of noise randwalk() if exprtk expressions.
[barometer] Anafi_Ai’s barometer has by default errors of modeled by random walk noise.
[GPS] ability to move at runtime the position of the sensor within the drone frame, using delta_position parameter.
[mountbind] throw an explicit error when trying to use an unexisting directory as source.
[system] Parrot Sphinx’s real time factor is now available in telemetry. section time, variable real_time_factor.
[system] wrapping service is back from the dead. More info here:

Version 1.10.2#

[cameras] last fix for perfect rendering time
[doc] add section of about UE4 camera tuning.

Version 1.10.1#

[cameras] add “shot noise”, i.e. a realistic modeling of the noise produced by Anafi_Ai’s stereo camera.
[cameras] reorganize all parameters in a hierarchical way. See the result in the web dashboard!
[cameras] most of UE4’s “post-processing” parameters are accessible via the web dashboard (and JSON-RPC)
[cameras] fix camera rendering time in UE4
[cameras] make cameras more synchronous with others. The improvement makes left and right cameras perfectly synchronous.
[depth_cam] handle two separate depth and disparity cameras
[GPS] GPS position contained Unreal worlds (like in parrot-ue4-earth) are automatically used by the simulation as the center of the scene.
[handling] a progress indicator added in web dashboard (and JSON-RPC)
[Anafi_Ai] ability to take photos and recordings with latest firmware. Thumbnails are also supported.
[motors] for anafi1 and Anafi_Ai, as soon as the motor enters ramping state, speed is set at 3000 rpm, which becomes the minimum value as long as the motor is ON.
[unreal] ultrasound: take account of min range
[disco] meshes of the Parrot legacy drone fixed in UE4 apps
[system] sphinx refuses to be run as root.
[clock] publish in sphinx’ telemetry the estimated real-time factor. See section time/real_time_factor.
[mountbind] mountbind option fixed after world reset
[cmd-line] --rt-percent can be expressed as a float number, instead of integer.
[cmd-line] new options -list-spawn-points, -list-areas for Unreal apps to list all spawnpoint and area names
[doc] add a specific section about how to record video frames. See Record and visualize cameras

Version 1.9#

[unreal] key ESC inhibited. You will no more exit Parrot Sphinx unexpectedly! Replaced by Ctrl+Q.
[unreal] to replace the user camera at its initial position, reselect the manual mode (key M). The use of key K has been removed.
[unreal] velocity view mode is smoother
[unreal] fix sporadic crashes while starting up
[unreal] -help option added to command line
[unreal] expose camera’s distorsion parameters in web dashboard
[actors] 4 vehicles added
[actors] reset and pause have been fixed
[doc] documentation about all available UE4 worlds updated. See 3D scenes available
[Anafi_Ai] recorded GPS errors are not applied by default. User can choose not to use any recording, or he can select one among four available.
[system] program can be run within mountbind directory. Permissions have been granted.
[system] new indicators through JSON-RPC: world_reset_running and fw_reset_running.
[misc] fix various minor issues.

Version 1.8#

[AMS] an actor can send its GPS/baro’s current values to the simulated drone.
[AMS] in addition to the existing characters, a pickup car can be spawned.
[unreal] user camera is set by default to “manual mode”. One can move the HMI camera using keyboard and mouse. The position can be reset with the key “K”.
[unreal] new view mode “N”. The camera is located along the velocity vector of the drone.
[system] new command line option “mountbind”. This creates the ability to share a given directory between the host and the simulated drone. See this section.
[Anafi_Ai] depth camera and stereo camera can be activated simultaneously.
[Anafi_Ai] fix TimeOfFlight
[unreal] worlds “pylon_construction” and “grass_land” removed from sphinxapt.parrot.biz APT source. The worlds “sphx_tests” and “carla” replacing them.
[misc] fix various minor issues.

Version 1.7.2#

[bug] Fix compatibility with Anafi and Anafi_Ai
[misc] fix various minor issues.

Version 1.7.1#

[unreal] Gaussian noise is now properly applied on renderings
[unreal] Settings (PIP selection, etc) are automatically saved and restored
[unreal] real time gets improved
[Anafi_Ai] ability to set simultaneously depth camera and stereo camera
[Anafi_Ai] real gimbal is now functional
[Anafi_Ai] smartbattery handles “full_charge_capacity”
[unreal] new plugin “Actor Movement System” is available in draft version.
[video-ipc] use new backend “shm”

Version 1.6.1#

[Anafi_Ai] fix streaming of depth and stereo cams when using Unreal.
[Anafi_Ai] support of front cam and vertical cam.
[unreal] add combo box in PIP windows to choose the video source
[wifi] Support Anafi Thermal as Wifi dongle. This requires a firmware version 1.6.4 or higher.

Version 1.6#

[unreal] support of Time of Flight and Ultrasound sensors
[unreal] display of speed and acceleration vectors in user’s rendering
[unreal] collisions are now properly handled whatever the type of objects.
[unreal] visualization of flightplan trajectories (nominal and corrected)
[Anafi_Ai] ready to support multiple gimbals
[actors] fix vehicle actor in gazebo
[dronelab] telemetry from sphinx and drone can now be visualized on sphinx dashboard
[unreal] in debug report (key ‘P’), show user camera coordinates.
[elastic_search] send info about UE4 usage
[cmdline] new option to start sphinx with an arbitrary simulated time (instead of zero)
[misc] various minor bug fixes and optimizations

Version 1.5#

[unreal] depthmaps generated directly by unreal can be disparities with configurable alterations.
[unreal] fix to be able to load a non-default level.
[unreal] with the application, press “;” key to access console.
[unreal] video zoom from controller is supported
[system] some fixes to fully work with firmwares built on debian buster
[cmdline] –datalog is activated by default. Replaced by –nodatalog.

Version 1.4#

[new major feature] Unreal Engine 4 to render video frames.
[system] compatible with recent kernel versions (5.0.x)
[cameras] ability to save raw video frames from Sphinx dashboard, with and without Unreal mode.
[smartbattery] add anomaly file
[system] support of Debian Buster (Debian 10)
[cmdline] –datalog is activated by default. Replaced by –nodatalog.

[new major feature] HIL mode to generate depthmaps remotely on physical Anafi_Ai. See /internal_HIL
[new feature] new plugin wireless_link to simulate wireless signal quality according to distance and obstacles separating receiver and transmitter. See Wireless link

Version 1.3#

[omniscient] control position and visibility of static objects through JSON-RPC interface.
[battery] new fields added: “cell_voltage” and “usb_peer”
[doc] Current guidebook updated with new pictures. Mentions to Freeflight Pro replaced by Freeflight 6.

Version 1.2.1#

[world] new world vicon1
[cam_director] new option “delta_rotation”
[wifi] You can now use anafi as a wifi dongle (see system requirements).
[anafi] Anafi is now supported.
[world] 3 new worlds added.
[cmdline] New option to start a simulation with physics engine disabled. (-- disable-physics)

Version 1.1#

[Anafi_Ai] several changes in sensor plugins to support Anafi_Ai
[Anafi_Ai] anafi_ai.drone added in /opt/parrot-sphinx/usr/share/sphinx/drones/
[world] fix magic carpet size
[depthmap] It is now possible to add invalid pixels in the depthmaps. New options have been added in the JSON-RPC depth-camera section.
[barometer] add new exprtk variable “mean_motor_rpm”
[license] display license agreement upon installation, in command line help, and in user guide.
[system] Debian Jessie is no longer supported. As of Parrot Sphinx 1.1, Ubuntu Xenial, Ubuntu Bionic and Debian Stretch are supported.
[system] world reset can be performed via the web dashboard. See world/fwman/fwman/action/world_reset_all.
[doc] new user guide section about how to use Parrot Sphinx with VirtualBox

Version 1.0#

[Anafi_Ai] add 3D model of Anafi_Ai
[trajectory] for Anafi and Anafi_Ai, optionally draw in the 3D scene the path taken by the drone. (see fwman option in inspector widget)
[depthmap] disparity is now configurable (baseline, native_width, …)
[steradar] new plugin for Anafi_Ai. Used to get all depth from every directions.
[puremodel] “Pure Model” mode. In this mode, no need for drone firmware running in firmwared. All plugins are instantiated waited to be used from a program running directly on the host.
[obstacle_watcher] new plugin to provide at any time the distance separating the drone from any obstacle.
[world] new world “cliff_terrain”
[cameras] fully support change of resolution at runtime
[smartbattery] simulate new fields (is_authenticated, cycle_count)
[camera] several improvements on stability
[omniscient] in telemetry section omniscient, add last collision time
[world] several new 3D models
[web dashboard] more robust to world reset, better stability