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@waltjohnson waltjohnson released this 14 Mar 17:47
1.8.6.d
89cfe8d
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Learn about vigilant mode.
  • uINS-3 firmware v1.8.6 b1126_2022-05-13_101913
  • EVB-2 firmware v1.8.6 b46_2022-05-13_101929
  • EvalTool v1.8.6 b229_2022-05-13_101952

NEW FEATURES:

  • (uINS) Dead reckoning support for ground vehicles. Use of vehicle kinematic constraints allows for position and velocity estimation for extended periods of GNSS outage. This does not use a wheel sensor.
  • (uINS) Increased serial port 0 and 2 maximum baudrate to 9.375 Mbps and serial port 1 to 18.75 Mbps. Use RS485 for high speed serial over cables.
  • (uINS) In-field IMU calibration feature used to zero IMU biases and level INS frame with vehicle frame or mounting points.

Breaking Changes:

  • (SDK) Consolidated dual magnetometer outputs. Renamed DID_MAGNETOMETER_1 to DID_MAGNETOMETER and removed DID_MAGNETOMETER_2.
  • (SDK) Firmware update function bootloadFileEx() and four associated functions in inertialSenseBootLoader.h now returns 0 on success and -1 on failure.
  • (SDK) HDW_STATUS_BIT_FAULT in eHdwStatusFlags moved and expanded to include HDW_STATUS_BIT_RUNNING and HDW_STATUS_BIT_PASSED. These are used in hdwStatus in ins_1_t, ins_2_t, ins_3_t, ins_4_t (DID_INS_1, DID_INS_2, DID_INS_3, DID_INS_4), and sys_params_t (DID_SYS_PARAMS).

Changes:

  • (uINS) Built-In Test (BIT) improved to detect and report IMU calibration bias offset.
  • (uINS) System command added to message DID_SYS_CMD to enable zeroing of IMU calibration bias offset for gyros and/or accelerometer vertical axis.
  • (bootloader & SDK) New uINS and EVB bootloader (v5b) that adds support to uINS ser2 and makes bootloading more robust for Rugged-2. See bootloader release notes for details.
  • (CLTool) Display support for write / send only DIDs when using the -edit option.
  • (Manufacturing) Revised IMU calibration process to remove minor errors introduced by gravitational effects.
  • (uINS) Relaxed attitude unlignment detection slightly to improve tolernace.
  • (EvalTool) Added hot key "ctrl + z" to send Zero Motion command to notify EKF system is motionless.
  • (uINS) Expanded Infield Calibration vertical alignment requirements for accelerometer calibration from +-6 degrees to +-10 degrees.
  • (uINS) Infield Calibration option INFIELD_CAL_STATE_CMD_INIT_OPTION_DISABLE_REQUIRE_VERTIAL (0x00020000) created to disable vertical alignment requirement.

BUG FIXES:

  • (CLTool) Fixed TCP server send issue in Linux used for RTK base corrections.
  • (uINS) Fixed GPS velocity bug where ublox receiver incorrectly reports invalid velocity when no GPS signal is present. The bug can result in the INS fusing invalid GPS velocity.
  • (uINS) Fixed issue were factor reset command (SYS_CMD_MANF_FACTORY_RESET) would also clear sensor calibration.
  • (uINS) Fixed DID_RMC interface, allowing single field configuration to enable data streaming. Prevent RMC data on external GPS ports.
  • (uINS) Fixed SPI support on the uINS-3.2.
  • (uINS) Fixed barometer and magnetometer sensor saturation indicators and disabled EKF fusion on saturation.
  • (uINS) Fixed Infield Calibration INS rotation issue when IMU rotation (specified in DID_FLASH_CONFIG.sensorConfig, SENSOR_CFG_SENSOR_ROTATION_...) is non-zero.
Assets 7
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