Firmware Changelog - Advanced Navigation Spatial Dual Reference Manual

2

Firmware Changelog

Version Date
2.2 05/04/2016
2.1 14/04/2015
2.0 21/08/2014
Performance improvements
Added support for NMEA messages GPROT and GPHEV
Added support for raw GNSS packet input
Bug fix for NMEA mode character indicating incorrectly
Bug fix for raw satellite data packet update rate not saving
correctly
Support for hardware version 1.4
Enhanced odometer hot start dead reckoning performance
Bug fix with serial port passthrough incorrect port ID
New tightly coupled heave filter operating at 1000Hz
Improved hot start performance and functionality
New algorithm for use inside gimbals (requires encoder)
More robust time acceptance from external sources
NMEA time is now perfectly aligned to the millisecond
Support for offsetting reference position of output data
Improved handling of leap second change during operation
Virtual odometer distance filter added
Slip filter added
Bug fix for differential corrections being sent to GNSS
receiver before initialised causing issues
Updated world magnetic model to 2015 version
Improved reversing detection filter
Added gimbal state and configuration packets
Added automotive packet
Added race car vehicle profile
Support added for new hardware version 1.3
Significant filter performance improvements under high
dynamics
Improved filter performance under dead reckoning
Improved performance in urban canyon conditions where a
GNSS fix is rarely available
Improvements to car and fixed wing plane vehicle profiles
Improvements to delay compensation filter
Fixed bug that could cause temporary GNSS failure after
long periods
Raw GNSS packet updated to new format
GPIO output configuration packet updated
Support for external odometer packet added
Support for external air data packet added
Wind estimation filter improvements
Added stunt plane vehicle profile
Added support for serial port passthrough
Support for GNSS receiver information packet added
GPIO data output now up to 50Hz
Spatial Dual Reference Manual
Page 10 of 137
Version 2.3
12/04/2016
Changes