changes.txt Microbotics, Inc. Copyright 2005 Information contained in this document is proprietary to Microbotics, Inc. Any use or distribution without written permission is prohibited. ---------------------------------------------------------------------------- This document lists the significant changes between release versions of the MIDG II firmware. v2.0.17 - January 6, 2006 Fixed external RTCM reception that was broken at 2.0.14. v2.0.16 - December 9, 2005 Fixed significant position lag in the GPS_PV message, and position error with high dynamics. Fixed possible overflow in PAcc and SAcc fields of the GPS_PV message. v2.0.15 - October 12, 2005 Finalized support for MIDG IIc v2.0.14 - October 5, 2005 Initial support for MIDG IIc (SIS90031C). Modified message queueing so that messages that should have low latency are queued first. The new sequence for message queueing (assuming that a message is enabled and sent at the current cycle) is IMU_DATA, IMU_MAG, NAV_SENSOR, NAV_PV, NAV_ACC, STATUS, GPS_..., TIM..., etc. v2.0.12 - June 22, 2005 Fixed intermittant problem with RTCM corrections provided using the RTCM input message (ID 30). v2.0.11 - June 6, 2005 Updated internal magnetic model. Now valid through 2010. Fixed possible inadvertent configuration changes when external heading measurements are used. Applying heading measurement whenever they are received. Previously, they were only applied if the heading covariance was greater than the measurement confidence value supplied with the measurement. v2.0.10 - May 26, 2005 Added GPS_CLOCK message. Renamed NAV_PV.Details bit 7 to Solution Source (was Solution Type). Added function to bit 4 of NAV_PV.Details to indicate that GPS position and velocity are valid. This is necessary in conjunction with NAV_PV.Details:SolutionSource (bit 7) to determine if the position and velocity information in the message is valid when the source is GPS. Fixed loss of GPS_RAW message if more than 10 satellites are in view. Fixed minor precision loss in LLA position output. v2.0.9 - January 11, 2005 Fixed precision loss in position updates during INS mode. v2.0.8 - December 10, 2004 Fixed: Attitude discontinuities in lower VG modes (VG_FAST, VG_MED). Added GPS_RAW message. MIDG II Display v2.0.5 adds support for this message. Fixed: Bandwidth calculation when selecting messages or baud rate is not conservative enough. v2.0.7 - October 29, 2004 Fixed: timestamp failed to wrap at GPS end of week. v2.0.6 - October 25, 2004 fixed possible wrap around of rate sensor values during rate saturation. v2.0.5 - September 20, 2004 Fixed Lat/Lon/Alt output to give full precision. Added message poll support to meet message spec. Fixed position integration and position update truncation errors. Fixed ENU position so that it is calculated using a plane at the reference location instead of the aircraft location. Note that velocity is always reported using the aircraft position as reference. Using improved integration techniques for position, velocity, and attitude. Changed heading confidence level convarinaces to match 2.1.x code. The new confidence levels correspond to measurement covariances as follows: Level One-Sigma Confidence 0 0.5 deg 1 1.0 deg 2 2.0 deg 3 4.0 deg 4 8.0 deg 5 12.0 deg 6 20.0 deg 7 30.0 deg Fixed: external heading measurements now get applied correctly when the sensor to aircraft transform is non zero. Fixed: bugs in sending messages with GPS as their source. Previously, the messages were being sent at full speed regardless of user selection. One result of the fix is that the GPS messages are now presented with their actual latency of nearly 200ms. Added TIM_PPS message. Fixed: CFG_SET reply (ack/nack) now includes CFG_SET as first byte. Fixed potential crash of heading measurements with confidence level zero. Fixed configuration system so that only 5% margin is required for serial communications when changing baud or message rates. v2.0.1 - March 11, 2004 First release version and baseline.