[debug] some more fixes on handling of collisions
[ExprTk] new functions added
outside_area(). They make all ExprTk expressions sensitive to where the drone is located in the scene.
[wind] the wind settings are shared in between world settings (for the mean component) and drone settings (for the dynamic component)
[AMS] vehicles have collisions that encompass the whole shape
[camera] shot noise: use ExprTk expression to define the intensity
[camera] added fully customizable lens shader effect
[camera] can generate frames encoded in NV12
[HMI] ability to see the “areas” in the user cameras by the means of the JSON-RPC command
[doc] all possible values that a JSON-RPC parameter can take are listed in the present documentation.
[system] compatibility with kernel 6.x
[pysphinx] new API
get_encountered_objectsto check for obstacles between two points of the space.
[world] factory: improved realism thanks to some changes on the lights (and the use of the “indoor” preset).
[aerodynamics] expose motor speeds in ExprTk expressions
[propulsion] better handling of the errors that can be triggered by the user
[collisions] handling of collisions has been improved.
[light] full refactoring of the way light and sky are managed.
mode “intense_light” has been removed.
JSON-RPC interface now comes with presets, allowing the user to instantly change the atmosphere in an easy manner.
several parameters added so the user can fine-tune around each preset.
it is possible to adjust the presence of fog
the world levels come either with statically built light or dynamic light. An indicator located in the upper-right corner tells the kind of light.
[HMI] use colored gradient to display depths, disparities and distances
[HMI] floating pane’s transparency is adjustable
[HMI] new keyboard shortcut “M” to maximize/minimize current view
[HMI] “Camera Connections” window is no more floating
[HMI] ability to display a gizmo widget in “user” or “follow” camera window
[HMI] more settings saved and retrieved at each start and set at the bottom of the main window
[scene] ability to hide actors using JSON-RPC interface
[camera] for depth/disparity/distance cameras, ability to enable/disable masking of the drone body
[camera] depth maps are optionally rendered with the “native” resolution provided in configuration
[camera] support of lens flare has been (temporarily) removed.
[gps] RTK fix status parameter added
[actors] collision box of the moving hand has been fine tuned.
[wind] support of gusts added. Gust can be either parametric or predefined
[wind] low pass filters applied on both the static and dynamic parts
[tools] several changes in the arguments of sphinx-get-logs
[tools] simple reset command added to
[exprtk] new kind of noise: “markov_noise”
[system] Debian Buster is no more supported
[system] support of Wayland
[textures] textures of vehicle tags and imported FBX object are better rendered, especially when seen from a far viewpoint.
[AMS] the spawn points on vehicle are located at the sample place as the tags.
[AMS] ability to specify the precise location of the spawn point on a vehicle, it can be one of the possible tag locations.
[AMS] the drone is now able to land on a vehicle moving fast
[imported 3D objects] support embedded textures in FBX files
[cmd line] options @-list-actor-spawn-points@ and @-list-spawn-points@ merged into @-list-spawn-points@.
[physics] ability to get and to modify via JSON-RPC several parameters that are global to the scene. Example: GPS coordinates, temperature, atmospheric pressure, …
[sphinx-cli] new color gradient to visualize depths and distances
[handling] new option available in every step: @start_condition@. If set, the step starts after the provided condition is met.
[gps] delay is now expected to be expressed in milliseconds rather than in number of samples
[cameras] removed noises of type “disturbances”
[HMI] display a large “Drag’n’drop a camera here” message when needed.
[system] activate CPU’s “performance” mode during the time of the simulation. The aim is to improve the real-time factor.
[system] after installation, firmwared systemd service is automatically enabled and started.
[world] SphxTests/main: Parrot landing pad added
[world] SphxTests/autotests: curvy road added
[others] many other minor improvements and fixes!
[system] support of Ubuntu 22.04 added. Support of Ubuntu 18.04 removed.
[SDK] Parrot UE SDK added. It allows any user to build his/her Unreal Engine project for Parrot Sphinx.
[HMI] 4 different camera window layouts are now available.
[HMI] option to activate auto-exposure histogram on HUD cameras
[HMI] Colors slightly modified
[HMI] enable copy & paste
[camera] show objects located at a distance below 10 cm
[camera] new projection model for fisheye cameras: Kumler-Bauer
[AMS] realism of vehicle movement got improved
sphinx-get-logscommand improved to add the bootID in the filename.
[cmdline] quit application after writing 3D grid colors file
[pysphinx] add methods to get and set poses, and conversion methods between coordinate frames
[sensors] consider the actual scene altitude for all sensors
[barometer] add pressure scale factor
[system] Gazebo upgraded to version 11.11
[system] improve simulated clock consistency (works only with latest firmwares)
[system] drop any background/stray firmwares before starting the simulation
[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=rtcis taken by default.
[cmd line] option
--datalog-quietto 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.
[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.
-ams-config-fileis 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
dbgdistcan 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.
[animations] new parameter
wpo_factorto freeze or amplify foliage animations
[sky] new parameter to set the size and the brightness of the sun:
[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-forwardingis deprecated. The machine parameter
remote_ctrl_ipneeds 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
[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
sphinxcommand 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
[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:
[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)
[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.
sphinx-drone-as-wifidonglenow 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_distfor test purpose only
[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.
[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
[cmdline] new option
-qualityin 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
[sphinx-cli] some fixes related to command “camera”.
[wan_access] fix the usage of the option
wan_accesswhen a firewall blocks requests to public DNS servers.
[pitot] offset and scale configurable for the pitot probe model.
[IMU] new alteration parameter
[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
[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.
transmission_towers. Corresponding intense light versions are also added.
[world] new level
towersin 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-cam-cliis merged into
sphinx-cli. Please use
sphinx-cli camera ...instead.
sphinx-hil-bandwidthadded to measure bandwidth over USB link
[HMI] editor mode (key
F2) added in the UE4 apps. This mode allows you to easily create flight plans and actor paths.
tags_materialto change the kind of material used for the vehicle tags.
sphinxcommand 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_poseis 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.
pysphinxto communicate with Parrot Sphinx in Python3
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.
sphinxcommand 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.
[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
[world] in sphxtests world, new map
tof_testsadded. Plus, more objects added in map
[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_accessis 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
[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”.
[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.
sphinxcommand is now identical to
sphinx-server, which becomes deprecated.
sphinx-clientis renamed into
[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.
[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
sphinx-drone-as-wifidonglehas 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
stolen_interfacewas too technical and is now deprecated, being replaced by
wifi_ifaceis 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
Rkey to display it.
[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
[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.
[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.
[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.
[GPS] support “timemark” data message
[ToF] better model implemented
[HMI] ability to display lighting histogram over camera video frames. Use
visualize_hdrparameter in web interface.
[debug] improve stability on world reset
[wifi] new name for the script turning your Anafi into a wifi dongle:
[Anafi_Ai] generate a fake serial number so that colibry takes the configuration according to the hardware revision.
[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.
[unreal] new command line
-versionto 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+F4instead 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
[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
[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
[system] wrapping service is back from the dead. More info here:
[cameras] last fix for perfect rendering time
[doc] add section of about UE4 camera tuning.
[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
[mountbind] mountbind option fixed after world reset
--rt-percentcan be expressed as a float number, instead of integer.
[cmd-line] new options
-list-areasfor 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
ESCinhibited. You will no more exit Parrot Sphinx unexpectedly! Replaced by
[unreal] to replace the user camera at its initial position, reselect the manual mode (key
M). The use of key
Khas been removed.
[unreal] velocity view mode is smoother
[unreal] fix sporadic crashes while starting up
-helpoption 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:
[misc] fix various minor issues.
[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.
[bug] Fix compatibility with Anafi and Anafi_Ai
[misc] fix various minor issues.
[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”
[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.
[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
[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.
[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.
[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_linkto simulate wireless signal quality according to distance and obstacles separating receiver and transmitter. See Wireless link
[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.
[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. (
[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
[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