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Release 1.6
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@waltjohnson waltjohnson released this 30 May 03:51
1.6
56ad765
  • uINS-3 firmware v1.6.6.0 b2551_2018-06-08_234706
  • EvalTool v1.6.7.1 b40_2018-06-08_234345

NEW FEATURES:

  • (uINS) Strobe ouput event corresponding to preintegrated IMU period.
  • (uINS) Squential sensor observation updates. Less memory, faster,
    better attitude alignment.
  • (uINS) Access to raw GPS ionosphere parameters.

BREAKING CHANGES:

  • (SDK) The following name changes occurred in the SDK:
    • BIT_STATE_COMMAND_FULL >> BIT_STATE_CMD_FULL_STATIONARY
    • BIT_STATE_COMMAND_BASIC >> BIT_STATE_CMD_BASIC_MOVING
    • HDW_BIT_FAULT_GPS_ACCURACY >> HDW_BIT_FAULT_GPS_POOR_ACCURACY
    • HDW_BIT_PASSED_AHRS >> HDW_BIT_PASSED_NO_GPS

CHANGES:

  • (RTK) RTK configuration settings moved to
    DID_FLASH_CONFIG.RTKCfgBits.

BUG FIXES:

  • (uINS) Gravity observations fix. Gravity tilt in AHRS.
  • (uINS) Roll/pitch bias error caused by linear acceleration.
  • BIT communications error fix between two uINS units in RTK rover
    and base mode.
  • Corrected BIT false error for IMU noise.
  • (uINS) Heading drift caused by magnetometer fusion disabled under certain conditions.
  • (SDK) CLTool broken bootloader fix.
  • (uINS) AHRS alignment initialization error that keeps system in alignment mode.
  • (uINS) Logging of GPS2 raw data.

KNOWN ISSUES:

  • (uINS) Magnetic declination estimation error that results in heading inaccuracy.
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