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Release 1.7.6.d (Patch)
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@waltjohnson waltjohnson released this 16 Sep 22:50
1.7.6
d377b92
  • uINS-3 firmware v1.7.6 b239_2019-10-11_145107
  • EVB-2 firmware v1.7.6 b33_2019-10-11_145131
  • EvalTool v1.7.6 b267_2019-10-11_145414

NEW FEATURES:

  • (GNSS Compassing) Official Dual GNSS aided INS for accurate heading measurements without need of vehicle dynamics or magnetic sensors. Addresses beta version issues related to stability and performance.
  • (EVB) Ability to update uINS firmware through EVB-2 processor (SAME70) using EVB-USB connection.
  • (EVB) Open source project for EVB-2 now available. This project provides an embedded development platform as well as example serial and SPI interface with the uINS.
  • (RTK/Compassing) Ability to toggle between RTK precision positioning mode and Dual GNSS compassing mode without reset.

CHANGES:

  • (SDK) Cleaned up several compiler warnings.

BREAKING CHANGES:

  • (SDK) Added leap seconds (GPS-UTC) offset to binary messages using gps_pos_t and ASCII PGPSP message. Used to convert GPS time to UTC time.
  • (Strobe) Strobe functionality must be enabled for each strobe pin using DID_FLASH_CONFIG.ioConfig.
  • (Strobe) Strobe input is now interrupt based instead of timer based and now only requires a rising or falling edge with no minimum pulse length.

BUG FIXES:

  • (PATCH) Fix for critical fault caused by libc-nano snprintf malloc used with ASCII protocol output.
  • (PATCH) Fix RTK stability issue effecting time to fix and generally maintaining lock.
  • (PATCH) Corrected INS output timestamp drift, offset, and noise.
  • (Dual GNSS) GPS compassing patch: addressed stability and performance issues.
  • (USB) Addressed 512 byte buffer limitation on the uINS and EVB USB CDC interface. This issue occurred when sending RTK base observations (RTCM3 or uBlox) over USB.
  • (Logger) Issue resolved that prevented .csv logs from being written.
  • (uINS) Issue resolved where disabling magnetometer fusion prevents EKF from initializing and states from being updated.
  • (uINS) Fixed EKF attitude drift during initialization caused by unaccelerated condition detection.
  • (uINS) EKF altitude tracking of GPS issue resolved.
  • (uINS) EKF position tracking of RTK GPS position in RTK float.
  • (RTK) improved fix hold under accelerated conditions.
  • (uINS) Over temperature status indicator fixed.
  • (uINS) Fixed EKF discontinuities in roll and pitch estimates.

KNOWN ISSUES:

  • (RTK) uINS RTK RTCM base station occasionally results in rover RTK lose of fix.
  • (Dual GNSS) Stationary systems with uncalibrated magnetometer may result in heading deviation of several degrees during a GPS compassing outage.
  • (uINS) Strobe input configured to trigger on falling edge on pin 5 (G2) does not work and will be fixed in the next release.

BOOTLOADER:

  • It is recommended to update to the latest bootloader.
  1. Ensure uINS Firmware is Running - (This step is not necessary if the uINS firmware is running and the EvalTool is communicating with the uINS). If the bootloader is running but the firmware is not, version information will not appear in the EvalTool. The LED will also be a fading cyan. The following bootloader update step will not work unless the EvalTool is communicating with the uINS firmware. In this case the firmware must be updated first.
  2. Update the Bootloader - Use the EvalTool "Update Bootloader" button in the Settings tab to upload the latest bootloader firmware. If it has a fading cyan LED, the bootloader is running and ready for new firmware to be loaded. The bootloader can only be updated using serial0 or the native USB ports.
  3. Update the Firmware - Use the EvalTool "Update Firmware" button to upload the latest uINS firmware.
Assets 6
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