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Release 1.11.1
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@waltjohnson waltjohnson released this 29 Jan 18:34
1.11.1
25b96d8
  • IS_IMX-5_v1.11.1_b284_2024-01-26_032425
  • IS_uINS-3_v1.11.1_b4_2024-01-26_032430
  • EvalTool v1.11.1 2024-01-26

NEW FEATURES:

  • (EvalTool) NMEA command generator tool added to EvalTool Data Logs tab, helpful for testing NMEA message functionality.
  • (IMX) UART baud rate can now be set to arbitrary custom non-standard baud rates when greater than 921600 bps to improve compatibility with host UARTs. When >921600 bps, the DID_FLASH_CONFIG.serXBaudRate parameter is automatically adjusted to the closest available baud rate in order to inform the user of the actual hardware baud rate.
  • (EvalTool, cltool, SDK) Serial port can now be set to custom non-standard baud rates above 921600 bps.
  • (IMX) CAN Bus CID_GPS2_RTK_CMP_REL added to provide access to compassing performance metrics.
  • (IMX) CAN Bus buffer size increased to support multiple CID streams at high broadcast rates.
  • (EvalTool) Allow users to select and copy from and past to table data in Settings tab and Manufacturing tab tables.

BREAKING CHANGES:

  • (IMX) Created vertical reference system (VRS) INS_STATUS_SOLUTION_VRS solution status reported in DID_INS_x.insStatus to differentiate roll and pitch alignment from heading alignment.
  • (IMX) Renamed INS_STATUS_ATT_ALIGN_COARSE/FINE to INS_STATUS_HDG_ALIGN_COARSE/FINE to be used only for heading alignment indication.
  • (SDK) Separated the NMEA period multiple from the ISB RMC period multiple.

CHANGES:

  • (SDK) Added more error messages to IMX SDK bootloader to identify system failures.
  • (cltool) Added version information including last git tag version and build date and time to help display.
  • (cltool) Added -romBootloader option to enable IMX ROM bootloader. Requires a power cycle and reloading the bootloader and application firmware to return to normal operation.

BUG FIXES:

  • (SDK) Improved error checking/port rejection for invalid/errant serial ports when discovering devices.
  • (IMX) Fixed non-standard high speed UART baud rates greater than 921600 bps. Now supporting up to 10 Mbps on the IMX-5 UART.
  • (IMX) Fixed RMC options to set multiple ports besides RMC_OPTIONS_PORT_ALL and RMC_OPTIONS_PORT_CURRENT.
  • (IMX) Fixed conversion from radian to degrees issue for GPS minimum elevation. This issue was introduced in 1.11.0 and caused the gpsMinElevation to be applied pi/180 smaller.
  • (IMX) Fixed bug where setting platformType in manufacturing OTP caused incorrect platformConfig type set in flashConfig.
  • (IMX) Fixed bug in GGA, GLL, and RMC NMEA messages that would incorrectly format longitude as DDDm.mmmmm instead of DDDmm.mmmmm.
  • (IMX) Fixed GNSS compass bug that occasionally caused attitude jumps.
  • (IMX) Fixed a bug that caused numerical issues in magnetometer calibration in strong magnetic fields.
  • (IMX) Fixed a bug in magnetometer usage for heading hold.
  • (IMX) Improved kinematic constraints learning quality detection.
  • (SDK) Fixed ability to update IMX-5 firmware from release r1.10.x and prior caused by missing hardware descriptor in dev_info_t.
  • (IMX) Fixed NMEA GPS message output to align with zero time, ensuring messages with 1s output data rate are sent at the top on the second and not in between seconds.
  • (IMX) Expand IMX-5 gyro maximum sensing range to +-4000 degrees per second. DID_FLASH_CONFIG.sensorConfig must be set accordingly.
  • (IMX) Fixed magnetometer output data rate (ODR) at 100 Hz.

KNOWN ISSUES:

  • (IMX) GPS PPS input time synchronization when using NMEA protocol is currently not supported. This will be available in a future release.
  • (IMX) Updating IMX-5 bootloader over serial port (UART) is not yet supported.
  • (IMX) External GNSS using NMEA protocol input to aid the EKF is not currently supported in the IMX-5.
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