1.2.4 — Pico 2 W firmware assets

1.2.4

• Release CI now builds Pico 2 W (pico2_w: RP2350A + CYW43439 Wi‑Fi/BT) in addition to pico2 and Pico Plus 2 W
• Assets: het68-1.2.4-pico2{,-w}.uf2/.elf and het68-1.2.4-pico-plus2-w.uf2/.elf
• OpenDroneID BLE scan enabled on both wireless boards

Firmware binaries are attached by the Release workflow after a successful build; git tag latest moves with that build.

1.2.3 — Cramer/NPL moist-air speed of sound

1.2.3

• Moist-air speed of sound (Cramer/NPL-style) from DPS310 T+P and assumed RH (default 50%, BARO RH <0-100>)
• Arden-Buck (p_{sat}), (x_w = RH\cdot p_{sat}/p), (c = 331.36\sqrt{T_K/273.15},(1+0.314 x_w+0.037 x_w^2))
• Shown in STATUS / BARO; applied to DOA TDOA
• CI: after a successful release build, floating git tag latest moves to that commit; GitHub Release is marked Latest

Firmware UF2/ELF assets are attached by the Release workflow (pico2 + Plus 2 W).

1.1.1 — RID wall-clock sync

What's new

• Auto TIME SYNC from OpenDroneID System message timestamp (BLE RID)
• ODID 2019-epoch → Unix (+ 1546300800)
• Sync when unsynced, or drift ≥ 2 s (rate-limited)
• TIME shows rid_unix= / rid_syncs=; heartbeat rid_sync= / time=ok

Build

PICO_BOARD=pimoroni_pico_plus2_w_rp2350 ./build.sh

CI uploads pico2 + Plus 2 W UF2/ELF.

1.1.0 — BLE OpenDroneID / Remote ID

What's new

• OpenDroneID / EU Direct Remote ID BLE scanner on CYW43 boards (Pico Plus 2 W)
• CLI: RID LIST, RID ON, RID OFF
• Heartbeat rid=, DET class remoteid
• Release artifacts for pico2 and pico-plus2-w

Build

./build.sh                                          # pico2 (RID stub)
PICO_BOARD=pimoroni_pico_plus2_w_rp2350 ./build.sh  # BLE RID enabled

CI uploads UF2/ELF assets to this release.

1.0.7

1.0.7

Improved object-type classification filters (heuristic):

• Soft membership scores for walker / vehicle / bird
• Walker gait regularity (IPI CV) + cadence/elevation gates
• Vehicle crest + pass-by cues; fewer footstep false positives
• Bird ambiguity → generic bird; elevation/persistence priors
• Stricter drone wind/crest/conf gates

Firmware artifacts attached by CI.

1.0.6

1.0.6

• Wind: keep drone wind gate; add intensity (dB) + steered az/el (SRC class=wind).
• UART CLI: HELP on connect; TIME SYNC, LOG ON|OFF, DET/ENT upload/download/delete.
• Detection log (separate from entity gallery): first_seen / last_seen / occurrence / max_gap_ms; timestamps only after TIME SYNC.
• NVR: DET EXPORT JSON Lines (NVREVT) for event correlation.
• Lab scenarios: TEST_SCENARIOS_1.0.6.md

Firmware artifacts are attached by CI.

1.0.5

1.0.5

• ACID opportunistic flash gallery: RAM-first entity store; dual-slot seq+CRC commits; flash erase/program only when USB audio idle (no stream stall).
• UART gallery I/O: ENT LIST / ENT EXPORT / ENT IMPORT (ENTHEX … / ENT END).
• Bird detection: ~2–8 kHz front-end, songbird/corvid/bird class, DOA az/el position, gallery diarization.

Firmware artifacts are attached by CI after this release is published.

1.0.4

Vehicles + flash entity gallery

• Detect pass-by vehicles → classify ICE / EV (up to 2 tracks)
• Persist walker/vehicle signatures in flash (last 4 KiB sector, up to 16 entities)
• On boot, UART lists the gallery (=== entity store (flash) ===)
• Re-ID via entity= + heuristic match= 0–1 (survives reboot)
• Existing drone + single walker (human/cat/dog) paths retained

Firmware UF2/ELF attached by Release CI.

1.0.3

Walker species + entity diarization

• Single walking entity (footstep bout ≥3 steps)
• Classify human / cat / dog (cadence + spectral ratios + level)
• Re-identify via on-device gallery (up to 8 entities) → stable entity= id
• Drones still tracked in parallel (up to 2)
• UART: ENTITY ..., SRC class=human|cat|dog entity=N ..., TRACKS ... entity=N

Firmware UF2/ELF attached by Release CI.

1.0.2

Multi-source DOA: drone vs human

• Parallel detectors: drone (~800 Hz–6 kHz, up to 2 tracks) and human/footsteps (~150–600 Hz onsets, up to 3 tracks)
• Simultaneous tracking; UART SRC class=drone|human + TRACKS drone=N human=M
• Walker ground estimate: rng / x / y (m) from az/el + array height
• Optional build flag: HET68_DOA_HEIGHT_MM

Firmware UF2/ELF attached by Release CI.