Changelog

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v0.3.0 (2026-08-03)

Added

  • Drone.Adapters.Crazyflie for single-drone Crazyradio / mock high-level flight
  • CRTP encode/decode, high-level commander, supervisor, and platform packets
  • CRTP logging TOC/subscribe helpers (Logging) for battery + sys.canfly
  • Bitcraze SafeLink enable + header-bit framing (SafeLink)
  • Crazyradio transport with pluggable USB backend (USB.Unavailable by default)
  • In-process Transport.Mock profiles for CI (mock://ready, estimator/battery/unplug)
  • Optional Transport.telemetry/1 so adapters do not inspect transport structs
  • Optional Drone.Adapter.capabilities/1 and Drone.Adapter.Capabilities
  • Drone.capabilities/1 public API
  • Mission preflight capability validation (Mission.validate_capabilities/2)
  • Safety options :require_estimator and :max_telemetry_age_ms
  • Guide: docs/crazyflie.md
  • Shared adapter acceptance tests for Sim and Crazyflie mock
  • Example: examples/crazyflie_mock_flight.exs

Changed

  • Drone.Adapter.resolve/1 recognizes :crazyflie and rejects unloaded modules
  • Sim and Tello advertise Tello-like capabilities
  • Crazyflie pose uses Drone.Geometry; takeoff height feeds altitude safety
  • Crazyflie readiness gate applies to takeoff, land, move, and rotate
  • Radio URIs default safelink=0; ?safelink=1 enables SafeLink negotiation
  • Estimator / telemetry-age safety fail closed on missing values
  • mix verify mirrors CI (format, unused deps, credo, sobelow, dialyzer, tests, docs)
  • README roadmap: Crazyflie delivered in v0.3.0 (swarms already shipped in v0.2.0)

Notes

  • Real radio:// links require a user-supplied usb_backend implementing Drone.Adapters.Crazyflie.USB. Connect downloads the logging TOC and subscribes to pm.batteryLevel / sys.canfly for readiness. Optional ?safelink=1 negotiates Bitcraze SafeLink. BLE, raw attitude, trajectories, parameter editing, and Crazyflie swarms remain deferred — see docs/design/v0_3_0_deferred.md.

v0.2.0 (2026-07-31)

Added

  • Drone.Swarm coordinator for named multi-drone groups with fail-fast fan-out
  • Drone.Swarm.Supervisor and Drone.Swarm.Registry for supervised, named swarms
  • Drone.Formation pure planners: :front, :column, :vee, :diamond, :echelon, :circle, :shoulder_pair, optional :grid
  • Coordinated connect_sdk/1, takeoff/1, land/1, emergency/1, run/2, run/3, telemetry/1, and stop/1
  • Drone.Swarm.start/1 public entry (handle-returning, like Drone.connect/2; not an OTP start_link)
  • Swarm.run/3 passes formation options (:side, :radius_cm, :columns, :leader, :origin, :heading_deg, etc.) through to the planner
  • Plan-time separation checks (min_separation_cm) for formations
  • Simulator initial pose opts: initial_x, initial_y, initial_z, initial_yaw
  • Swarm telemetry events ([:drone, :swarm, ...]) including stop reason
  • Good Advisor / Bad Advisor example (examples/good_bad_advisor.exs)
  • Docs: docs/swarm.md, docs/formations.md, docs/design/v0_2_0_deferred.md

Fixed

  • emergency/1 fans out from the caller (membership ETS), not blocked by run/2
  • Coordinator traps exits, links members, and disconnects them on shutdown/crash
  • Formation/run crash paths: bare %Mission{}, :diamond with ≠4 drones, float yaw, invalid options, unknown mission-map keys, invalid custom returns
  • Configurable call :timeout (default 60s) on swarm operations

Notes

  • Formations are one-shot geometric planners (simulator-first), not closed-loop flocking. Deferred behaviours are listed in docs/design/v0_2_0_deferred.md.

v0.1.0 (2026-06-10)

Added

  • Drone public API module for connecting, flying, and disconnecting drones
  • Drone.Vehicle supervised GenServer per drone process
  • Drone.Adapter behaviour for pluggable drone adapters
  • Drone.Adapters.Sim simulator adapter (in-process state machine, no hardware needed)
  • Drone.Adapters.Tello Tello UDP adapter with command encoding and response parsing
  • Drone.Adapters.Tello.Connection UDP connection handler with centralized defaults
  • Drone.Command struct with constructors for all Tello SDK commands
  • Drone.Error error type helpers with safety/1, adapter/1, invalid_command/1
  • Drone.Geometry shared position math module (move_delta/3, rotate_yaw/3, flip_delta/1)
  • Drone.Safety pure validation module with altitude, distance, battery, geofence, and allowlist checks
  • Drone.Safety.Policy struct with default, indoor, and unrestricted presets
  • Drone.Safety.Geofence circle and polygon geofence support
  • Drone.Telemetry event helpers emitting :telemetry events
  • Drone.Mission DSL for scripting command sequences
  • Drone.Supervisor dynamic supervisor for vehicle processes
  • Drone.Application OTP application starting Registry and Supervisor
  • Emergency stop command bypassing all safety checks
  • Dry-run mode for validating missions without sending commands
  • Command history tracking in simulator and vehicle state
  • Flight time simulation in simulator (query(:time) returns cumulative motor-on seconds)
  • Configurable battery drain simulation
  • Configurable failure injection in simulator
  • Position tracking (x, y, z, yaw) in simulator and vehicle state
  • Command argument validation enforcing Tello SDK ranges (distance 20-500cm, degrees 1-3600, speed 10-100cm/s, hover seconds >0)
  • CI/CD pipeline (lint, test matrix, coverage, sobelow, dialyzer, docs, Hex.pm release)

Changed

  • Drone.Vehicle.child_spec simplified: :id is a constant since DynamicSupervisor ignores it
  • Drone.Adapters.Tello now references Connection.default_*() accessor functions instead of duplicating defaults
  • Drone.Adapters.Sim.query(:time) returns cumulative flight seconds (not command count), matching real Tello behavior

  • @type drone narrowed from atom() | pid() to atom() (pids not supported)

  • Drone.Error.safety/1 used throughout Safety module (was inline tuples)
  • Battery stored as number() internally in sim, exposed as trunc(battery) integer

Fixed

  • Command range validation (F-01): move/3, rotate/3, set_speed/2, hover/2 reject out-of-range values
  • Battery always reported as integer (F-02)
  • Graceful {:error, :not_connected} for unknown drone names (F-04)
  • Tello parser handles negative numbers (F-08)
  • Policy.new(unrestricted: true) no longer crashes (F-09/F-10)
  • Drone.Vehicle.terminate/2 emits adapter key (:sim/:tello) not raw module name
  • Telemetry metadata bug: terminate/2 was emitting adapter module instead of adapter key