Release 1.10.0

• IMX-5 firmware v1.10.0 b123_2023-05-18_161312
• uINS-3 firmware v1.10.0 b57_2023-05-18_161324
• EVB-2 firmware v1.10.0 b71_2023-05-18_161342
• EvalTool v1.10.0 b172_2023-05-18_161401

NEW FEATURES:

• (SDK) Added flash synchronization flags to verify validity of IMX flash config and notify user.
• (SDK) Added functions to save flash config to/load flash config from yaml file.
• (ROS) [BETA] Moved the inertial-sense-ros repo into the inertial-sense-sdk repo (inertial-sense-sdk/ros).

CHANGES:

• (IMX) Expanded DID_GPSx_VERSION to read ublox firmware version. Serial port bridge with EvalTool convenience feature to support GPS firmware updates.
• (cltool) Added -sysCmd=[c] convenience option to cltool allowing users to send DID_SYS_CMD command.
• (SDK) Libusb was switched from incluced source code to a submodule. In some cases users must run git submodule update --init --recursive -f to FORCE the submodule update.

BUG FIXES:

• (IMX) Fixed hardware SPI enable pin. This bug would only allow SPI mode if enabled from flash config ioConfig since 1.9.0.
• (IMX) Fixed ASCII NMEA broadcast for GGA, GLL, and PGPGS (broken as of 1.9.1).
• (SDK) Ensure bootloader port flush occurs properly during handshake synchronization.

KNOWN ISSUES:

• (IMX) CAN bus is not yet supported. This will be available in a future release.
• (IMX) INS max output data rate is 62.5Hz (16ms period). This will be improved in a future release.
• (IMX) RTOS task period warning may appear during operation. This is ok and will not impact performance or accuracy of the solution.
• (IMX) GPS PPS input time synchronization when using ASCII NMEA protocol is currently not supported. This will be available in a future release.
• (IMX) EKF dynamic heading accuracy for GPS compassing may be closer to 0.4 degrees when it should be 0.1 degrees. This will be fixed in a future release.
• (IMX) Updating IMX-5 bootloader over serial port (UART) is not yet supported.