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Release 1.8.1
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@waltjohnson waltjohnson released this 11 May 14:28
1.8.1
f5dacd5
  • uINS-3 firmware v1.8.1 b414_2020-05-08_132324
  • EVB-2 firmware v1.8.1 b12_2020-05-12_162601
  • EvalTool v1.8.1 b462_2020-05-12_172805

NEW FEATURES:

  • (uINS) General support for uINS-3.2 hardware.
  • (uINS) CAN interface support on the uINS-3.2 hardware.
  • (uINS) External GPS receiver support, including u-blox ZED-F9P and any GNSS that outputs standard NMEA 3 messages.
  • (uINS) ZED-F9P support.
  • (EVB-2) Ability to configure EVB-2 external serial port baud rates.
  • (LogInspector) Data plotting tool for analyzing InertialSense binary PPD files.
  • (EvalTool) Linux deb installer now available.
  • (Dual GNSS) Stationary mode added which improves heading accuracy for non-moving applications.
  • (Dual GNSS) RTK heading accuracy figure added to DID_GPS1_RTK_CMP_REL message.
  • (uINS) Max INS output data rate increased from 500Hz to 1KHz.

CHANGES:

  • (EvalTool) Auto find and open devices on startup is moved to setting.json and disabled by default. This is to prevent EvalTool hang under certain circumstances.
  • (EVB-2) Watchdog timer added to ensure continuous operation.

Breaking Changes:

  • (SDK) is_comm_parse() in ISComm.c return type is now protocol_type_t and the InertialSense binary data ID (DID) is available in the comm instance dataHdr. For example usage, see comManagerStepRxInstance() in com_manager.c.

BUG FIXES:

  • (uINS) Fix for EKF numerical stability for partial bias updates caused by non-positive definite square-root factorization. This can occur with low signal strength GPS and weak signal conditions. This issue was introduced in software release 1.7.6.
  • (RTK, Dual GNSS) Fix for INS status indicator INS_STATUS_RTK_RAW_GPS_DATA_ERROR (RTK[RAW] in EvalTool) false triggers after 7 days of operation.
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