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RELEASE-NOTES.md

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Piksi Firmware Release Notes

Contents

v0.14

  • Numerous fixes to setup script for Ubuntu, OS X, ARM and RasberryPi targets

Core

  • Make low latency mode the default
  • Added chi-squared test on baseline solution residual to catch a large class of potential errors, including some cycle slips and incorrect IAR initializations
  • Handle the DMA RX buffer overrun and observation message packing: integer overflow errors more gracefully, these are no longer a critical errors and the system will continue to operate correctly
  • Fixes a bug that periodically caused a Obs Matching: t_base < t_rover error message and prevented any BASELINE messages from being generated
  • Improvements to integer ambiguity resolution speed when adding new satellites
  • New tracking loop filter architecture

Console / serial_link.py

  • Added options to log SBP data to a file in the console and serial_link.py
  • Ephemerides are now saved alongside observation files from console
  • serial_link.py now has options to reset the device upon connection and to exit after a timeout has elapsed
  • More compact layout of GUI elements

v0.13

  • Fix a bug resulting in a stack overflow when satellite set changes
  • Fix a bug in the NMEA output when the longitude magnitude was >127
  • Simulator mode enable is now a setting rather than a button in the console
  • Numerous improvements to the development environment setup script including now using Ansible to provision the required tools

v0.12

  • Fixes a bug where a "disorder in the sdiffs" message is displayed and the RTK solution output stops
  • Fixes an issue where Piksi would stop outputting observations and solutions for a period of several minutes before resuming
  • Adds a "lock count" field to the observation message format, allowing the remote receiver to detect when a satellite has been reinitialized. This fixes a problem where the RTK solution would become large and erronious when one receiver is restarted or satellites are rapidly lost and re-gained
  • Fixes issue where console would freeze on start-up
  • Increases the precision of settings values, fixing an issue where the base station position would lose precision if the settings were saved and the Piksi was then reset
  • Added a "Reset to factory defaults" button to the console
  • Fixes the center on solution button in the console
  • Fixes the start date in RINEX file headers
  • Improves handling of the Piksi being unplugged in the console

v0.11

  • Add ‘low latency mode’ which provides very low latency baseline outputs irrespective of the radio communications delay with a small accuracy penalty
  • Fix a stack overflow bug that occurs when the number of satellites in common falls below 5
  • Improve the robustness of the firmware update procedure

v0.10

Core

  • FFT based acquisition core for ~100x increase in acquisition speed
  • Increased from 9 to 11 tracking channels
  • Long SPI transfers to the NAP now use DMA
  • Numerous improvements to the simulator to make it more closely match the non-simulated behaviour
  • Fix bug where settings were not always saved to flash
  • Fix numerous stability issues
  • Firmware now checks for compatible NAP version
  • Added monitoring of UART throughput and observation latency
  • New compacted observation format for increased throughput and flexible over the wire frame size
  • Refactored UART code to allow peripherals (e.g. Bluetooth or 3G modules) to claim a UART for exclusive use
  • Remove the old Float Kalman Filter with position states that was running in the background, now we exclusively run the new KF which only uses ambiguity states and constraint equations
  • Add FLL aiding to the carrier tracking loop PLL during the initial pull-in period
  • Add ability to periodically transmit a message indicating the surveyed location of a base station
  • Add support for external modules to the build system
  • Add mechanism to register NMEA dispatchers (used by the external iAP Bluetooth module to interface to Apple devices)
  • If we have received a message with the surveyed location of the base station then output "pseudo-absolute" NMEA messages

libswiftnav

  • Generate a fixed solution even if only a partial set of PRNs have had their integer ambiguity resolved
  • Add FLL-aided-PLL loop filter
  • Fixed bug where the reference satellite was not found
  • Numerous bug fixes and stability improvements

Console

  • Check for updated Piksi firmware, NAP firmware and console version on start-up and prompt the user to flash updated versions to the device
  • Allow the user to select a serial port using a GUI dialog if one is not specified on the command line
  • Binary builds of the console now available for Window and Mac OS X
  • Fixed a bug with the RINEX header format output
  • Numerous fixes to support a wider range of Python/Qt/Wx environments
  • Numerous cosmetic enhancements
  • Format of CSV log files improved for greater precision and more readable time format

v0.8

  • First public beta release, as shipped with Kickstarter rewards and pre-order hardware
  • Basic RTK functionality