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Release 1.5
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@waltjohnson waltjohnson released this 13 Apr 07:54
1.5
61c7b17
  • uINS-3 firmware v1.5.6.0 b2225_2018-04-14_184432
  • EvalTool v1.5.7.1 b14_2018-04-14_184118

NEW FEATURES:

  • (INL2) Added second IMU to coning and sculling integral binary
    (DID_PREINTEGRATED_IMU) and ascii messages.
  • (INL2) Improved magnetic interference rejection.
  • (uINS) Ability to change GPS time sync pulse period using
    DID_FLASH_CONFIG.gpsTimeSyncPulsePeriodMs.
  • (uINS) Strobe input event
    • Indication added to hdwStatus flags.
    • DID_INS_2 message sent on strobe.
  • (SDK) GPS update indication added to insStatus flags.
  • (SDK) Ability to control transmission of binary and ascii messages on
    serial ports other than the current port.
  • (uINS) GPS PPS time pulse interval is now configurable.
  • (cltool) Auto detection of serial port so users don't need to
    specify.
  • (cltool) Ability to log to .csv and .kml.

BREAKING CHANGES:

  • (SDK) The following name changes occurred in the SDK:
    • DID_GPS >> DID_GPS_NAV
    • DID_GPS_CNO >> DID_GPS1_CNO
    • DID_GPS_VERSION >> DID_GPS1_VERSION
    • gps_t >> gps_nav_t
    • DID_DELTA_THETA_VEL >> DID_PREINTEGRATED_IMU
    • delta_theta_vel_t >> preintegrated_imu_t
    • INS_STATUS_MAG_NOT_GOOD >> INS_STATUS_MAG_INTERFERENCE_OR_BAD_CAL
      Feel free to let us know if we missed any other name changes.
  • (SDK) Modified data_sets:
    • ins_3_t >> added msl altitude
    • delta_theta_vel_t >> dual_imu_dtheta_dvel_t
  • (SDK) ASCII ASCB message (used to control message broadcasts)
    adds field "options" at the start, shifting all other fields
    back by one. ASCB section in the ASCII Protocol online docs.
  • (SDK) insStatus and hdwStatus added to PINS1 and PINS2 ASCII
    messages.

CHANGES:

  • (SDK) Added data sets:
    • DID_GPS2_CNO >> GPS 2 signal strength
    • DID_GPS2_VERSION >> GPS 2 version
  • (SDK) Added second IMU to DID_DELTA_THETA_VEL and renamed to
    DID_PREINTEGRATED_IMU.
  • (EvalTool) Added communications protocol mismatch detection and
    warning display.
  • Reduced software release versions to two digits and used for
    upper two digits of firmware and EvalTool version numbers.
  • (EvalTool) BIT test support for multiple devices.

BUG FIXES:

  • Added RTOS critical section around lastLla flash write to prevent
    flash config corruption.
  • Switched unwrap macros from while loop to if statements to prevent
    unnecessary unwrapping of large/invalid angles.
  • (uINS) Allow down grading to this firmware from future firmware
    releases.
  • (uINS) Add startup delay to ensure proper hardware detection.
  • (uINS) GPGGA ASCII message was incorrectly formatted.
  • (uINS) Gain updates for better altitude tracking.

Documents

Assets 6
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