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Release 1.1.4
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@waltjohnson waltjohnson released this 30 Nov 11:53
1.1.4
7c8b180

NEW FEATURES:

  • (INL2) Single & multi axis magnetometer calibration support.
  • (uINS) DID_INS_3 and DID_INS_4 solution output messages created to provide access to MSL altitude and ECEF position estimates.
  • (INL2) GPS lever arm support.
  • (INL2) Integrated IGF-80 gravity model for alignment.
  • (INL2) Enhanced magnetometer noise rejection.
  • (INL2) GPS velocity solution integration for enhanced performance.
  • (uINS) DID_MAG_CAL created as new standard for enabling and monitoring magnetometer recalibration progress.

CHANGES:

  • (INL2) INS and hardware status flags (insStatus and hdwStatus) have been revised. Solution status has been added and now serves as the general solution status indicator. See User Manual.
  • (EvalTool) INS tab displays more diagnostics from insStatus.
  • (INL2) More robust automatic magnetometer recalibration.
  • (INL2) Magnetometer recalibration no longer has singularity points and can operate around +-90 degree pitch angles.
  • (INL2) Enhanced barometric pressure noise rejection.

BUG FIXES:

  • (INL2) insStatus indicators (pos/vel/att) were not working as intended. Refer to INS_STATUS_SOLUTION(insStatus) for general solution status. See User Manual.
  • (uINS) Magnetometer calibration is now reliably saved to flash.
  • (uINS) Solution stream output and timestamps are more consistent.
  • (uINS) Hotfix: address backward compatibility for from future firmware releases.
  • (uINS) Hotfix: add startup delay to ensure proper hardware detection.

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