Release 1.6.4

• uINS-3 firmware v1.6.6.1 b3349_2018-08-24_145200
• EvalTool v1.6.7.1 b64_2018-08-24_144755

NEW FEATURES:

• (uINS) Faster convergence of initial attitude alignment.
• (IMU) Ability to configure sensor full-scale range and digital low-pass filter (DLPF).
• (RTK) Base station survey option.
• (RTK BETA) Virtual reference station now supported.

BREAKING CHANGES:

• (SDK) The following name changes occurred in the SDK:
  • gps_nav_t was separated into gps_pos_t and gps_vel_t to improve time synchronization.
  • DID_GPS_NAV -> DID_GPS1_POS
  • DID_GPS1_NAV -> DID_GPS1_UBX_POS
  • DID_GPS_RTK_NAV -> DID_GPS1_RTK_POS & DID_GPS1_RTK_REL

CHANGES:

• (uINS) Include raw GPS standard in all PPD (post process data) logs.

BUG FIXES:

• (uINS) GPS time of week TIMEPULSE time synchronization fixed, correcting error of ~17 seconds.
• (uINS) Attitude drift under unaccelerated conditions fixed.
• (uINS) Improved magnetic declination estimation by only running while heading is corrected from GPS.
• (EvalTool) Updated MS Visual C++ redistributable to 2017.
• (RTK BETA) Base corrections over serial and TCP are fixed.
• (uINS) Serial port driver fix that causes occasional dropped data under heavy loading.

KNOWN ISSUES:

• (RTK BETA) RTK sometimes requires a reset to get fix following an outage of base data.

Release 1.6.3

• uINS-3 firmware v1.6.6.0 b3266_2018-08-07_173804
• EvalTool v1.6.7.1 b59_2018-08-07_173422

BUG FIXES:

• (uINS) HOT FIX for error in GPS TIMEPUSE time synchronization and corresponding GPS time of week.

Release 1.6.2

• uINS-3 firmware v1.6.6.0 b2781_2018-06-29_175015
• EvalTool v1.6.7.1 b53_2018-06-29_174643

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NEW FEATURES:

• (RTK) BETA form of RTK precision GNSS positioning is now available.
• (RTK) Method to survey in RTK base position.
• (uINS) Improved earth magnetic field declination estimation.
• (uINS) Dynamic attitude accuracy improvement by enhanced magnetometer fusion.

BREAKING CHANGES:

• (SDK) The following name changes occurred in the SDK:
  • DID_FLASH_CONIG.startupSampleDtMs >> DID_FLASH_CONIG.startupImuDtMs
  • DID_SYS_PARAMS.samplePeriodMs>>DID_SYS_PARAMS.imuPeriodMs

CHANGES:

• Ability to disable magnetic declination estimation by setting bit SYS_CFG_BITS_DISABLE_MAG_DECL_ESTIMATION (0x00000008) of DID_FLASH_CONFIG.sysCfgBits.

KNOWN ISSUES:

• Magnetometer recalibration while RTK is running can result in degraded RTK performance.
• (RTK) EvalTool support for receiving base NTRIP is not working.
• (RTK) CLTool does not support simultaneous NTRIP uplink and status reporting on a single serial port.

Release 1.6

• uINS-3 firmware v1.6.6.0 b2551_2018-06-08_234706
• EvalTool v1.6.7.1 b40_2018-06-08_234345

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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.

Release 1.5

• uINS-3 firmware v1.5.6.0 b2225_2018-04-14_184432
• EvalTool v1.5.7.1 b14_2018-04-14_184118

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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

• User Manual and SDK docs
• uIMU_uAHRS_uINS_Datasheet.pdf

Release 1.1.4

NEW FEATURES:

• (INL2) Single & multi axis magnetometer calibration support.
• (uINS) DID_INS_3 and DID_INS_4 solution output messages created to provide access to MSL altitude and ECEF position estimates.
• (INL2) GPS lever arm support.
• (INL2) Integrated IGF-80 gravity model for alignment.
• (INL2) Enhanced magnetometer noise rejection.
• (INL2) GPS velocity solution integration for enhanced performance.
• (uINS) DID_MAG_CAL created as new standard for enabling and monitoring magnetometer recalibration progress.

CHANGES:

• (INL2) INS and hardware status flags (insStatus and hdwStatus) have been revised. Solution status has been added and now serves as the general solution status indicator. See User Manual.
• (EvalTool) INS tab displays more diagnostics from insStatus.
• (INL2) More robust automatic magnetometer recalibration.
• (INL2) Magnetometer recalibration no longer has singularity points and can operate around +-90 degree pitch angles.
• (INL2) Enhanced barometric pressure noise rejection.

BUG FIXES:

• (INL2) insStatus indicators (pos/vel/att) were not working as intended. Refer to INS_STATUS_SOLUTION(insStatus) for general solution status. See User Manual.
• (uINS) Magnetometer calibration is now reliably saved to flash.
• (uINS) Solution stream output and timestamps are more consistent.
• (uINS) Hotfix: address backward compatibility for from future firmware releases.
• (uINS) Hotfix: add startup delay to ensure proper hardware detection.

Documents

• SDK Documentation
• IS_User_Manual.pdf
• uIMU_uAHRS_uINS_Datasheet.pdf
• release-notes.txt - version information and software change log.

HOTFIX - Hardware 3.1.3 and later support

!!! IMPORTANT NOTE !!!

As of software release 1.1.3 and later, communications uses a 24 bit checksum. This requires a firmware update to communicate with the new EvalTool and SDK properly. Communications will not work between the new EvalTool / SDK and the old firmware except to support firmware updates. The bootloader will function regardless of firmware, EvalTool or SDK version.

This hotfix provides support for hardware version 3.1.3 and later to software release 1.1.3 EvalTool and firmware.