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Release 1.9.0
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@waltjohnson waltjohnson released this 28 Jan 15:22
1.9.0
2b2a2cf
  • IMX-5 firmware v1.9.0 b837_2022-10-09_215804
  • uINS-3 firmware v1.9.0 b1966_2022-10-09_215813
  • EVB-2 firmware v1.9.0 b57_2022-10-09_215833
  • EvalTool v1.9.0 b1297_2022-10-09_215857

NEW FEATURES:

  • (IMX) Software support for the IMX-5 w/ tactical grade IMU.
  • (IMX) Added GPS PPS timesync indicator flags to the hdwStatus and gps_pos_t.status fields to help users identify proper configuration and function.
  • (IMX) New attitude alignment algorithm that aligns faster and detects misalignment more reliably.

Breaking Changes:

  • (SDK DID) Several data sets defined in data_sets.h have modified to support triple IMU.
  • (IMX, SDK) Dual IMU messages (DID_DUAL_IMU, DID_PREINTEGRATED_IMU) have been consolidated into single IMU messages (DID_IMU, DID_PREINTEGRATED_IMU), utilizing onboard sensor fusion and fault detection to consolidate multiple messages.
  • (IMX, SDK) DID_DUAL_IMU_RAW renamed DID_IMU3_RAW and third raw IMU added.
  • (IMX, SDK) DID_MAGNETOMETER_1 and DID_MAGNETOMETER_2 consolidated into single output DID_MAGNETOMETER.
  • (IMX, SDK) DID_DUAL_IMU_MAG renamed DID_IMU_MAG.
  • (SDK) DID_PREINTEGRATED_IMU and preintegrated_imu_t renamed DID_PIMU and pimu_t.
  • (bootloader) The bootloader v6 must be used to upload release 1.9.0 uINS-3 and IMX-5 firmware. Systems running bootloader v5 must be updated before 1.9.0 firmware can be uploaded.

Changes:

  • (IMX, SDK) Added DID_IMU3_RAW and DID_IMU_RAW calibrated IMU output messages.

Known Issues:

  • (IMX) CAN bus is not yet supported. This will be available in a future release.
  • (IMX) Strobe input is not yet supported. This will be available in a future release.
  • (IMX) INS max output data rate is 62.5Hz (16ms period). This will be improved in a future release.
  • (IMX) RTOS task period warning may appear during operation. This is ok and will not impact performance or accuracy of the solution.
  • (EVB) Updating uINS or IMX firmware through the EVB-2 processor is temporarily not supported. This will be fixed in a future release.
  • (IMX) GPS PPS input time synchronization when using ASCII NMEA protocol is currently not supported. This will be available in a future release.
  • (IMX) EKF dynamic heading accuracy for GPS compassing may be closer to 0.4 degrees when it should be 0.1 degrees. This will be fixed in a future release.
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