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@waltjohnson waltjohnson released this 09 Nov 01:05
2.2.0
835cf84
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GPG key ID: B5690EEEBB952194
Learn about vigilant mode.
  • IS_GPX-1_v2.2.0+2024-11-08-214552.encrypted.bin
  • IS_IMX-5_v2.2.0+2024-11-08-214248.hex
  • IS-firmware_r2.2.0+2024-11-08-214222.fpkg
  • EvalTool v2.2.0+2024-11-08

NEW FEATURES:

  • (SDK) Add "-verbose" argument to cltool to increase report/log level during some operations (mostly firmware upgrades) (use additional '+' after '-verbose' to further increase log level). (PR-709)
  • (SDK) Added additional log levels "MORE_INFO" and "MORE_DEBUG". (PR-713)
  • (SDK) Added step/command error reporting for each device updated through ISFirmwareUpdater, and implemented reporting in clTool & EvalTool.
  • (GPX) GPX performs GNSS hardware status checks and reports via DID_GPX_STATUS under 'hdwStatus'. (PR-977)
  • (GPX) Dynamic minimum RTk GNSS CN0 threshold to improve performance in EMI noisy environment. See gnssCn0DynMinOffset and gnssCn0Mimimum in the flash config.
  • (GPX) Sending a change in 'key' to a different value or 'size' with a value of '1' in DID_GPX_FLASH_CFG sets GPX flash config to default.

CHANGES:

  • (SDK) New packet reading and parsing functions is_comm_port_parse_messages() and is_comm_buffer_parse_messages() in ISComm.c simplify message parsing and provide message type specific callback functions.
  • (SDK) Added additional RTK ephemeris debugging values.
  • (SDK) Added Ephemeris receive bit to DID_GPS_SAT
  • (GPX) Add Dynamic model to GPX RTK.
  • (SDK) V2 DataChunk supports protocol+fwVersion of the device, if available. (PR-709)
  • (SDK) Changed default verbosity level to "INFO" (PR-713)
  • (SDK) Cleaned up logging styles/text/formatting for ISFirmwareUpdater and InertialSense class. (PR-713)
  • (SDK) Added extensive/robust logging to ISFirmwareUpdater (use '-verbose++' to see it). (PR-713)
  • (SDK) Added additional, or refactored existing manifest commands to offer a more robust firmware upgrade process (see "manifest.yaml" for details). (PR-713)
  • (IMX) IMX paired with GPX now responds to request for DID_RTK_DEBUG.
  • (IMX) Modified ublox RTK fix requirements to ensure a more robust fix.
  • (GPX) Improved RTK fix stability
  • (GPX) Enabled support of iterated EKF in RTK engine
  • (IMX) Enabled re-computation of the RTK solution in post-processing by default to help analyze how RTK engine changes affect IMX performance in "golden logs".
  • (EvalTool) Data log converter output size for CSV files increased from 5MB to 50MB.
  • (SDK) cISLogger::CopyLog() method parameters were rearranged.
  • (GPX) Hardware checks are now performed before confirming firmware update. (PR-89)
  • (GPX) Hardware checks are now performed before allowing OTP to be set. (PR-983)
  • (SDK/EvalTool) cISDataMappings refactored and now used in the EvalTool to replace parcel data set descriptions.
  • (SDK) Fixed ISLogger max disk usage limit (culling) to prevent eventual filling of drive when logger is restarted multiple times. File culling (deletion) was moved from DeviceLog.cpp to ISLogger.cpp to monitor global log disk usage of root log directory (i.e. IS_log) and proper file culling (deletion of oldest files).
  • (cltool) Logger option -lmb drive usage limit in MB was added.
  • (SDK) cISLogger option for drive usage limit in MB added configurable via cISLogger::SaveInit().
  • (SDK) cISLogger::InitSave(), cISLogger::InitSaveTimestamp(), and InertialSense::SetLoggerEnabled() have been deprecated. Use of cISLogger::InitSave(directory, options) and InertialSense::EnableLogger() is recommended.
  • (IMX) Improved kinematics learning speed in the Ground Vehicle mode
  • (IMX) Kinematic constraints are not used when RTK is available to prevent higher position errors due to kinematic model inaccuracy
  • (IMX) Improved detection and handling of degraded GNSS in the Ground Vehicle mode
  • (SDK) Renamed macros dot_Vec2() dot_Vec3() dot_Vec4() to DOT_VEC2() DOT_VEC3() DOT_VEC4() in ISMatrix.h and created normal functions with lower case used to save code space.

BREAKING CHANGES

  • (SDK) Moved message callback function registration in the com_manager.c as a parameter (is_comm_callbacks_t) in comManagerInit() and removed comManagerSetCallbacksInstance().
  • (SDK) Changed NMEA strings with 'Gx' as the prefix now use 'GN'. i.e. 'GxGSV' is now 'GNGSV'. (PR-701)
  • (SDK) Removed DeviceLogSorted and DataChunkSorted classes. (PR-709)
  • (SDK) Updated com_manager.h callback typedefs to be consistent with other similar data-parsing callbacks (returning int), and updated usages throughout code.
  • (cltool) Logger option -lms drive usage limit was switched from percent of available drive to percent of total drive.

BUG FIXES:

  • (GPX) Fixed issue where RTK solution oscillated between fix and float at start.
  • (cltool) Fixed issue which prevented failures during fwUpdate process from exiting with non-zero exit code. (PR-713)
  • (SDK) Fixed issue where cISLogger::CopyLog() would write duplicate DID_INS_1 data when converting logs if DID_INS_1 already existed in source log.
  • (GPX) Fixes issue where GNSS_INIT_x flag is being raised falsely after update.
  • (IMX) Fixed an issue where INS heading would not stop aligning in the Ground Vehicle mode.
  • (GPX) Fixed error in parsing DID_GPX_RMC.
  • (GPX) Fixed issue where receiving DID_GPX_RMC causes an IOOB error.
  • (GPX) Fixed bug where GPX Serial 1 was not initialized properly.
  • (EvalTool) Fixed built-in test (BIT) display in INS tab status window.
  • (IMX) Fixed bug where GPS position aiding flag (in insStatus) would not clear during dead reckoning.

KNOWN ISSUES

  • (GPX) (SN-4689) INS position saw-tooth pattern probably caused from GNSS position/velocity time synchronization error.
  • (GPX) Ser2 UART communications port is not yet supported.
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