Release 2.0.6

• IS_IMX-5_v2.0.6_b186_2024-04-14_011527.hex
• IS_GPX-1_zephyr_v2.0.6_b233_2024-04-14_011728.encrypted.bin
• EvalTool v2.0.6_2024-04-14

CHANGES:

• (SDK/EvalTool) Added SYS_CMD_GPX_SOFT_RESET_GPX system command as a way to issue a GPX reset through the IMX.

BUG FIXES:

• (SDK) Fixed NMEA issue where UTC timestamp would wrap incorrectly at the end of week.
• (SDK) Fixed NMEA issue where LLA degree decimal minutes format was truncated in the GGA message.
• (SDK) Fixed NMEA GSV message to properly report signed satellite elevation when negative.
• (IMX) Fixed occasional redundant GPS message (ISB and NMEA) output when used with the GPX.

KNOWN ISSUES

• (IMX) IMX will occasionally send truncated packets when running with startupNavDtMs = 7ms and aided by GPX RTK compassing. As a work around when using the IMX with GPX and RTK compassing it is recommended to set startupNavDtMs = 20ms.
• (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.
• (GPX-RTK) RTK compassing known issues:
  • (GPX-RTK) (SN-4871) Occasion RTK compassing loss of fix (dropout) during operation.
  • (GPX-RTK) (SN-4844) Missing ephemeris data for various satellites.
  • (GPX-RTK) (SN-4876) Missing L5 GPS raw observations. The expected L5 data is present for about 15 seconds and missing for 150-180 seconds.

Release 2.0.5

• IS_IMX-5_v2.0.5_b135_2024-04-02_165401.hex
• IS_GPX-1_zephyr_v2.0.5_b200_2024-04-02_165555.encrypted.bin
• EvalTool v2.0.5_2024-04-02

CHANGES:

• (SDK) Revised SetFlashConfig to only upload 32bit word contiguous segments that are modified.
• (SDK) Revised InertialSense flash synchronization to properly wait and report upload.

BUG FIXES:

• (SDK) Have cltool -did [DID#]=0 (ISDisplay) return 0 on exit to indicate success.
• (GPX) Fixed stalled GNSS firmware update caused by an excessive wait following baud rate change.
• (SDK) Expanded SegBus error checking across more code domains for ARMv7 MPUs.

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.
• (GPX-RTK) RTK compassing known issues: (see [GPX_RTK_Compassing_Performance_Report_2024-2-27.pdf](https://github.com/inertialsense/inertial-sense-sdk/releases/download/2.0.1/GPX_RTK_Compassing_Performance_Report_2024-2-27.pdf) for details)
  • (GPX-RTK) (SN-4871) Occasion RTK compassing loss of fix (dropout) during operation.
  • (GPX-RTK) (SN-4844) Missing ephemeris data for various satellites.
  • (GPX-RTK) (SN-4876) Missing L5 GPS raw observations. The expected L5 data is present for about 15 seconds and missing for 150-180 seconds.

Release 2.0.4

• IS_IMX-5_v2.0.4_b56_2024-03-28_223915
• IS_GPX-1_zephyr_v2.0.4_b72_2024-03-28_224102.encrypted
• EvalTool v2.0.4_2024-03-25

NEW FEATURES:

• (GPX) GPX now accepts sys command to reset GNSS receivers.
• (SDK) Created ISLoggerSimple example project to illustrate how to use the SDK cISLogger class to log raw data to file.
• (IMX)(EVAL) GPX-specific messages passed through IMX now follow traditional RMC and ISB_get requests.

CHANGES:

• (cltool) Added -ufpkg option to cltool as a simple method of using firmware update package files (.fpkg).

BUG FIXES:

• (SDK) Fixed nmea_sprint_footer() dependency on a null terminated string when computing checksum.
• (IMX) Fixes bug with IMX flash config being passed to GPX where IMX does not send all settings.
• (SDK) Fixed NMEA $GNGGA sentences incorrectly reporting E/W N/S direction for near zero (<1 degree) coordinates.
• (SDK) Fixed SEGBUS error on ARM7 32-bit architecture MPUs in ISDataMappings.cpp for double pointer dereferencing in GetTimestamp().

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.
• (GPX-RTK) RTK compassing known issues: (see [GPX_RTK_Compassing_Performance_Report_2024-2-27.pdf](https://github.com/inertialsense/inertial-sense-sdk/releases/download/2.0.1/GPX_RTK_Compassing_Performance_Report_2024-2-27.pdf) for details)
  • (GPX-RTK) (SN-4871) Occasion RTK compassing loss of fix (dropout) during operation.
  • (GPX-RTK) (SN-4844) Missing ephemeris data for various satellites.
  • (GPX-RTK) (SN-4876) Missing L5 GPS raw observations. The expected L5 data is present for about 15 seconds and missing for 150-180 seconds.

Release 2.0.3

• IS_IMX-5_v2.0.3_b37_2024-03-18_210123
• IS_GPX-1_zephyr_v2.0.3_b47_2024-03-18_210323.encrypted
• EvalTool v2.0.3_2024-03-18

NEW FEATURES:

• (GPX) Ser1 UART communications port is supported.
• (GPX) Introduced magnetometer fusion delay with RTK compass to prevent switching to magnetic heading during brief RTK compass outages.

CHANGES:

• (GPX) Changes state machine timers for GNSS init to work properly during edge case scenarios.
• (IMX) Switched G1G2 default port from CAN bus to Ser2 communications.
• (EvalTool) Improved EvalTool Firmware Update status/error messaging
• (SDK) Use formatted date/time stamps in FirmwareUpdate logs.
• (SDK) Restructures and expand the use of InertialSense::is_device_t as a more common arbiter for ISFirmwareUpdater - especially when updating multiple devices.

BUG FIXES:

• (cltool) Fixed issue where -flashCfg would return zeros prior to DID_FLASH_CONFIG being available.
• (IMX) Fixed issue that causes incorrect DID_RMC information sent from the IMX.
• (SDK) Fixed version checking in ISFirmwareUpdater.cpp

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.
• (GPX-RTK) RTK compassing known issues: (see GPX_RTK_Compassing_Performance_Report_2024-2-27.pdf for details)
  • (GPX-RTK) (SN-4871) Occasion RTK compassing loss of fix (dropout) during operation.
  • (GPX-RTK) (SN-4844) Missing ephemeris data for various satellites.
  • (GPX-RTK) (SN-4876) Missing L5 GPS raw observations. The expected L5 data is present for about 15 seconds and missing for 150-180 seconds.

Release 2.0.2

Release 2.0.2 (production)

• IS_IMX-5_v2.0.2_b14_2024-03-14_170534
• IS_GPX-1_zephyr_v2.0.2_b26_2024-03-14_170725.encrypted
• EvalTool v2.0.2_2024-03-14

BUG FIXES:

• (SDK) Fixed incorrect MD5 digest selection when updating pre-release GPX firmware.
• (IMX/GPX) Removed feature that attempts to synchronize IMX serial port baudrates with the GPX serial port baudrates.
• (GPX) Fixed issue where setting serial port 2 baudrate causes system fault. Ser2 is not yet supported.

KNOWN ISSUES

• (GPX) (SN-4689) INS position saw-tooth pattern probably caused from GNSS position/velocity time synchronization error.
• (IMX-GPX) (SN-4872) Heading deviates slightly as a result of going in and out of GPX compassing fix.
• (GPX) Ser2 UART communications port is not yet supported.
• (GPX-RTK) RTK compassing known issues: (see GPX_RTK_Compassing_Performance_Report_2024-2-27.pdf for details)
  • (GPX-RTK) (SN-4871) Occasion RTK compassing loss of fix (dropout) during operation.
  • (GPX-RTK) (SN-4844) Missing ephemeris data for various satellites.
  • (GPX-RTK) (SN-4876) Missing L5 GPS raw observations. The expected L5 data is present for about 15 seconds and missing for 150-180 seconds.

Release 2.0.1

• IS_IMX-5_v2.0.1_b193_2024-02-27_233449
• IS_GPX-1_zephyr_v2.0.1_b417_2024-02-27_233634.encrypted
• EvalTool v2.0.1_2024-02-27

IS-uINS-3 IS NOT SUPORTED ON 2.x.x AND NEWER RELEASES (THIS RELEASE)

NEW FEATURES:

• (GPX) New GPX-1 multi-frequency (L1/L5) GNSS dual receiver with onboard RTK and GNSS compassing.
• (Eval) Added additional support to EvalTool to handle GPX DIDs
• (GPX) GPS output period is now configurable down to 100 ms while not running RTK and 500 ms while running RTK.
• (ALL) Adds additional fields to DID_MANUFACTURING_INFO which now includes a hardware Id and additional reserved bits
• (GPX) Adds support for storing manufacturing info into OTP memory
• (GPX) Adds the ability to use .fpk file extensions while updating GPX GNSS receivers.
• (IMX) NMEA GSV output message.
• (IMX) NMEA $ASCE output enable message created for more extensible NMEA output control.
• (GPX) Serial ports 1 now supported.
• (GPX) USB port now supported.
• (GPX) Adds "Firmware Packages" - Composite files which contains multiple firmware files for multiple devices, and a defining manifest which provides details about which devices to upgrade and in which order.
• (SDK) Adds support to the FirmwareUpdate API to support querying version information from downstream targets, as a first-class mechanism.
• (SDK) Added support for $ASCE requests in the NMEA protocol.
• (GPX) Added MCU temperature to DID_GPX_STATUS message
• (GPX) Added NMEA message output support.
• (GPX) Allow enabling/disabling of L1 or L5 bands on GPX.

BREAKING CHANGES:

• (SDK) Revised binary communications protocol as of release 2.0.0. Not backwards compatible with any 1.x release.

CHANGES:

• (SDK) Implements new "standards compliant" MD5 digest algorythm, and consolidates usage across all modules (previous MD5 algo is retained for backwards compatibility).
• (GPX) Create enable GPX serial bridge loopback sys command for testing.
• (GPX) Add rx overrun and tx limited flags to GPX status.
• (SDK) DID_NMEA_BCAST_PERIOD matches the ASCII message $ASCE instead of the deprecated $ASCB.
• (SDK) Refactored InertialSenseSDK to build and be linked as a static library.
• (GPX) Switch RTCM3 raw data time sync to always sync w/ pseudorange.

BUG FIXES:

• (SDK) DID_NMEA_BCAST_PERIOD now works with specified port.
• (GPX) Fixed firmware update issue where process slows or stalls in Windows OS while updating 3 or more devices simultaneously.
• (GPX) Fixed issue where GPX-IMX time synchronization and GPS velocity clamping caused sawtooth pattern in inertial position estimate.
• (EvalTool) Fixed firmware update file memory and recent list to work with update type selection (i.e. IMX-5, FwPkg, GPX-1, etc.).

KNOWN ISSUES

• (GPX) (SN-4689) INS position saw-tooth pattern probably caused from GNSS position/velocity time synchronization error.
• (IMX-GPX) (SN-4872) Heading deviates slightly as a result of going in and out of GPX compassing fix.
• (GPX) Ser2 UART communications port is not yet supported.
• (GPX-RTK) RTK compassing known issues: (see [GPX_RTK_Compassing_Performance_Report_2024-2-27.pdf](https://github.com/inertialsense/inertial-sense-sdk/releases/download/2.0.1/GPX_RTK_Compassing_Performance_Report_2024-2-27.pdf) for details)
  • (GPX-RTK) (SN-4871) Occasion RTK compassing loss of fix (dropout) during operation.
  • (GPX-RTK) (SN-4844) Missing ephemeris data for various satellites.
  • (GPX-RTK) (SN-4876) Missing L5 GPS raw observations. The expected L5 data is present for about 15 seconds and missing for 150-180 seconds.

Release 1.11.2

• IS_IMX-5_v1.11.2_b332_2024-02-19_150634
• IS_uINS-3_v1.11.2_b14_2024-02-19_150638
• IS_EVB-2_v1.11.2_b72_2024-02-19-150640
• EvalTool v1.11.2 b_2024-02-19

BREAKING CHANGES:

• (SDK) DID_NMEA_BCAST_PERIOD matches the ASCII message $ASCE instead of the deprecated $ASCB.

BUG FIXES:

• (SDK) DID_NMEA_BCAST_PERIOD now works with specified port.

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.

Release 1.11.1

• 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.

Release 1.11.0

• IS_IMX-5_v1.11.0_b314_2023-11-04_033722
• IS_uINS-3_v1.11.0_b92_2023-11-04_033727
• EvalTool v1.11.0 2023-11-04

NEW FEATURES:

• (IMX) Standard NMEA GSV message containing satellite information.
• (IMX) Increased solution maximum output data rates on IMX-5.0:
  • INS (w/ GPS): 142Hz (7ms)
  • AHRS (no GPS): 200Hz (5ms)
  • VRS (no GPS or magnetometer): 250Hz (4ms)
• (IMX) CAN bus supported added to IMX-5.
• (IMX) EKF dynamic heading accuracy w/ GPS compassing improved from 0.4 degrees to 0.1 degrees.

CHANGES:

• (IMX) DID_GPS1_SIG message created to convey satellite multi-band signal information including CNO, quality, and use status.
• (SDK/EvalTool) Changed gps_sat_t to contain multi-frequency information and removed Pseudo range residual (prRes). Added gps_sig_t to provide additional multi-frequency information.
• (SDK) Renamed DID_ASCII_BCAST_PERIOD and ascii_msgs_t to DID_NMEA_BCAST_PERIOD and nmea_msgs_t.
• (IMX) Standard NMEA talker ID now defaults to $GNxxx for multi-constellations or to the constellation specific value (i.e. $GPxxx for GPS, $GAxxx for Galileo, etc.).
• (IMX) Ability to enable/disable magnetic continuous calibration by setting bit SYS_CFG_BITS_ENABLE_MAG_CONTINUOUS_CAL (0x00000002) of DID_FLASH_CONFIG.sysCfgBits. Default mode is disabled.
• (IMX) Ability to adjust the magnetometer interference sensitivity threshold via DID_FLASH_CONFIG.magInterferenceThreshold.
• (IMX) Retain reference LLA and last LLA if valid during factory reset.
• (IMX) Initialize reference LLA (refLLA) used to compute INS1 NED equal to last LLA during factory reset or when last LLA changes and refLLA is zero.
• (IMX) Initialize platform type from OTP memory to set ioConfig (GPS communications) defaults correctly following factory reset.
• (SDK) Revised flash config synchronization in SDK InertialSense class to support platform config changes.
• (ROS) Only set ioConfig and platformConfig in IMX flash config if specified in parameter file. Platform type in OTP memory ensures ioConfig defaults are correct and do not need to be set.
• (IMX) Added support to drive LEDs on TBED-3 manufacturing fixture.
• (IMX) Improved EKF stability.
• (IMX, GPX, SDK) Added packet parser timeout to IMX and GPX firmware to invalidate incomplete packets after 100ms.
• (IMX) Updated World Magnetic Model (WMM) declination using 2019 data extrapolated to 2024. Set bit SYS_CFG_BITS_MAG_ENABLE_WMM_DECLINATION in DID_FLASH_CONFIG.sysCfgBits to enable.
• (IMX) Improved magnetometer robustness to disturbances

BUG FIXES:

• (IMX) Fixed NMEA broadcast for PASHR (broken as of 1.9.1).
• (EvalTool) Fixed UI lag caused by bootloader number of DFU devices count.
• (EvalTool) Fix data log conversion bug caused by inclusion of invalid parent directory.
• (SDK, EvalTool) RUG-3 I/O preset 5 RS-485 label fixed as serial port 1.
• (IMX) Remove startupDtMs limit restrictions for debug configuration.
• (IMX) Fixed message streaming using DID_RMC with non-preset option.
• (IMX) Fix issue with week number incorrectly incrementing at beginning of week.
• (IMX) Fixed uBlox F9P configuration verification which results in the GPS init to fail. This includes correct constellation selection.
• (IMX) Fixed GNSS minimum elevation for F9P.
• (IMX) Fixed SBAS support (requires upgraded F9P firmware).
• (EvalTool) Fixed UI lag caused by bootloader number of DFU devices count.
• (EvalTool) Factory dialog and associated child dialogs (factory reset, chip erase, firmware downgrade) are centered and always centered and on top of EvalTool dialog to prevent OS compatibility issue the may hide dialogs.
• (SDK) FTDI firmware update timeout fix.
• (IMX) Fix NMEA VTG message stream output.
• (IMX) Fix issue with long-term slow attitude drift when stationary.
• (EvalTool) Address un-initialized pointer in keyPressEvent() that causes a segfault.
• (IMX) Fix configurability of NMEA message output data rate.
• (IMX) RTOS task period warning during operation.
• (IMX) Prevent barometric altitude from degrading EKF altitude estimate during RTK position fix.
• (IMX) Fix serial bridge disable command.

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.

Release 1.10.0

• IMX-5 firmware v1.10.0 b123_2023-05-18_161312
• uINS-3 firmware v1.10.0 b57_2023-05-18_161324
• EVB-2 firmware v1.10.0 b71_2023-05-18_161342
• EvalTool v1.10.0 b172_2023-05-18_161401

NEW FEATURES:

• (SDK) Added flash synchronization flags to verify validity of IMX flash config and notify user.
• (SDK) Added functions to save flash config to/load flash config from yaml file.
• (ROS) [BETA] Moved the inertial-sense-ros repo into the inertial-sense-sdk repo (inertial-sense-sdk/ros).

CHANGES:

• (IMX) Expanded DID_GPSx_VERSION to read ublox firmware version. Serial port bridge with EvalTool convenience feature to support GPS firmware updates.
• (cltool) Added -sysCmd=[c] convenience option to cltool allowing users to send DID_SYS_CMD command.
• (SDK) Libusb was switched from incluced source code to a submodule. In some cases users must run git submodule update --init --recursive -f to FORCE the submodule update.

BUG FIXES:

• (IMX) Fixed hardware SPI enable pin. This bug would only allow SPI mode if enabled from flash config ioConfig since 1.9.0.
• (IMX) Fixed ASCII NMEA broadcast for GGA, GLL, and PGPGS (broken as of 1.9.1).
• (SDK) Ensure bootloader port flush occurs properly during handshake synchronization.

KNOWN ISSUES:

• (IMX) CAN bus is not yet supported. This will be available in a future release.
• (IMX) INS max output data rate is 62.5Hz (16ms period). This will be improved in a future release.
• (IMX) RTOS task period warning may appear during operation. This is ok and will not impact performance or accuracy of the solution.
• (IMX) GPS PPS input time synchronization when using ASCII NMEA protocol is currently not supported. This will be available in a future release.
• (IMX) EKF dynamic heading accuracy for GPS compassing may be closer to 0.4 degrees when it should be 0.1 degrees. This will be fixed in a future release.
• (IMX) Updating IMX-5 bootloader over serial port (UART) is not yet supported.