Release 2.1.3

• IS_IMX-5_v2.1.3+2024-09-09-182356.hex
• IS_GPX-1_v2.1.3+2024-09-09-182657.encrypted.bin
• IS-firmware_r2.1.3+2024-09-09-182333.fpkg
• EvalTool v2.1.3+2024-09-09

CHANGES:

• (GPX) Pre-enabled all standard GPX output messages for use with IMX.
• (IMX/GPX) Added debug code to re-initialize Ser0 driver using DID_SYS_CMD.
• (GPX) GPX broadcasts primary messages (see GRMC_PRESET_GPX_IMX) by default .

BUG FIXES:

• (GPX) Fixed an issue where GNSS receiver may become unresponsive if receiver firmware update is interrupted.

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.

Release 2.1.2

• IS_IMX-5_v2.1.2+2024-08-29-193335.hex
• IS_GPX-1_v2.1.2+2024-08-29-193704.encrypted.bin
• IS-firmware_r2.1.2+2024-08-29-193302.fpkg
• EvalTool v2.1.2+2024-08-29

NEW FEATURES:

• (IMX) GPS PPS input count added to DID_GPS1_TIMEPUSE.
• (IMX) GPS PPS noise detection and reported in hdwStatus (eHdwStatusFlags::HDW_STATUS_ERR_GPS_PPS_NOISE).
• (cltool) Generic display for all datasets defined in ISDataMappings.cpp.
• (cltool) introduced new argument (-vd) to disable device validation.
• (GPX) DID_GPX_STATUS message now contains more information about GNSS receiver state.

CHANGES:

• (SDK) NMEA GSV SDK documentation update.
• (cltool) Miscellaneous, minor improvements to cltool run/display logic

BUG FIXES:

• (IMX/SDK) Fixed NMEA $ASCE message so it now accepts GXGSV (uppercase "X") as well as GxGSV (lowercase "x").
• (IMX) Fixed issue that causes erroneous momentary reporting 0 (off) for the solution status in the insStatus.
• (GPX) DID_GPS1_RAW and DID_GPS2_RAW now broadcasting ephemeris message at expected rate.
• (IMX) Fixed issue where if USB is not in use and data is set to broadcast out of the USB port a TxOverflow would be flagged (SN-5514)
• (cltool) Fixed -sysCmd option send reliability for DID_SYS_CMD.
• (cltool) Reduced default transmit rate (periodMultiple) for non-rmc messages which was 1ms which may be problematic on some systems.
• (cltool) Fixed stalls when querying single DID with no response (implement default 30-second timeout, overridden using -dur option).
• (cltool) -stats cmd argument now correctly displays DID stats
• (cltool) Fixed errant display when "onceDid" (-did =0) is set, for both PRINT_PRETTY and PRINT_SCROLL.

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.

Release 2.1.1

• IS_GPX-1_v2.1.1+2024-07-19-201512.encrypted.bin
• IS_IMX-5_v2.1.1+2024-07-19-201227.hex
• IS-firmware_r2.1.1+2024-07-19-201204.fpkg
• EvalTool v2.1.1+2024-07-19

NEW FEATURES:

• (SDK) Filters added to DID_EVENT.
• (SDK) CLTool now able to configure DID_EVENT filters.
• (EvalTool) Now downloadable as an AppImage for Linux Systems
• (GPX) GPX now responds to ISB_GET requests for DID_RTK_DEBUG.
• (GPX) Added watchdog reset to GPX.
• (GPX) Added reset reason to DID_GPX_STATUS.
• (GPX) Added DID_GPX_PORT_MONITOR and DID_PORT_MONITOR GPX RMC.
• (SDK) NMEA protocol now supports filtering of GxGSV by constellation and frequency.

CHANGES:

• (SDK) Added sent byte length error checking to is_comm_write() in ISComm.c.
• (SDK) Changed return values for is_comm_write() and related functions that write directly to the serial port. These functions now return 0 on success and -1 on failure.
• (IMX) While GPS type is GPX, IMX now passes DID_RTK_DEBUG requests to GPX.
• (GPX) Improve fault reporting in GPX.
• (SDK) Changed the output values of DID_DEV_INFO to allow version numbers to be more deterministic
• (SDK) Cltool/ISDisplay now report “RESET REQUIRED” “TX LIMITED” and “RX OVERFLOW” in addition to showing the FlashCfg checksum.
• (ALL) Version numbering has changes slightly
• (SDK) Changes made to build scripts to accomodate Python>=3.11 and also Ubuntu>=24.04
• (EvalTool) Resolves Ubuntu 24.04 (kernel 6.8.0) unconfigured /dev/ttyS* ports showing up in available ports

BREAKING CHANGES

• (SDK) Switched size and offset parameter order in functions is_comm_get_data() and is_comm_get_data_to_buf().
• (SDK) DID_BIT data set (bit_t) refactored to separate input command from current state. lastCommand added to record last input command.
• (SDK) Change port from signed int to unsigned int in ISComm.c and com_manager.c.

BUG FIXES:

• (GPX) Fixes bug in GPX where DID_GPS2_RTK_CMP_MISC gives corrupted info when requested directly.
• (SDK) Fixed issue in DID_BIT in which loopback serial ports cause BIT to cancel.
• (SDK) Fixed serialPortWritePlatform() limitation in serialPortPlatform.c that caused occasional data drop sent from host pc (SDK).
• (SDK) Fixed bug where GxGSV would be mangled on non-GPS constellations.
• (IMX) Prevent magnetometer recalibration status if magnetometer fusion is disabled.
• (GPX) Fixed bug when DID_GPX_PORT_MONITOR reports invalid values for port 0 and 3 (SN-5363).
• (GPX) Fixed bug were DID_GPS2_RTK_CMP_REL, DID_GPS2_RTK_CMP_MISC, and DID_GPS1_RTK_POS_REL could only be broadcast via Serial0.
• (IMX) Fixed issue where platform type in flash config would not get set correctly when set in manufacturing info.
• (SDK) Fixed issue where flash config sync would not update checksum correctly and perform unnecessary flash sync if platformConfig type was unchanged. Ignore bit PLATFORM_CFG_UPDATE_IO_CONFIG when checking whether to upload flash config platformConfig from InertialSense class.
• (IMX) Fixes an issue where IMX cannot broadcast over USB if the host reboots during a session.
• (SDK) Fixes bug where direct upgrade from firmware version 1.10 to 2.x was impossible.
• (SDK) Fix cltool imx ISB firmware update status text
• (SDK) Fixes a broken logger in the ISLoggerSimpleExample.cpp project.
• (EvalTool) Fixed data log "File Conversion Utility". Removed multi-directory selection from the "Select Directory" pop-up dialog. Multi-directory selection only works with the drag and drop feature.

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.

Release 2.1.0

• IS_IMX-5_v2.1.0_b43_2024-05-30_103301.hex
• IS_GPX-1_zephyr_v2.1.0_b127_2024-05-30_103454.encrypted.bin
• EvalTool v2.1.0_2024-05-30

NEW FEATURES:

• (cltool) Add --list-devices (or -list-devices) to print all discovered Inertial Sense devices, port, hardware and firmware information.
• (cltool) Add support to display GPX_STATUS messages.
• (cltool) Displays unsupported DID messages in HEX format.
• (cltool) Added "-raw-out" option to print colorized raw hex formatted dumps of entire ISB packets.
• (GPX) DID_GPX_STATUS message now able set hdwStatus flags.
• (IMX) EKF only fuses GPS Velocity if GPS position is present.
• (GPX) GRMC message timing staggered to avoid Tx limited events on GPX. Staggering will reset any time GPX receives DID_GPX_RMC.
• (GPX) DID_GPX_PORT_MONITOR added to GPX.
• (IMX) DID_PORT_MONITOR give more verbose information.
• (SDK) port_monitor_set_t expanded to give more information about data port activities on the device.
• (SDK) DID_INTERNAL_DIAGNOSTIC removed.
• (GPX) Added fault detection for missing parameters in the RTK compassing algorithm.
• (IMX) Added general fault code to IMX's paired with GPX to alert the user if the GPX had Tx limited or Rx overrun events occur.
• (GPX) DID_RTK_DEBUG now able to be broadcast by GPX.
• (GPX) Added GNSS firmware update required detection.
• (SDK) Added InertialSense::BroadcastBinaryData(pHandle) variant to request broadcast data for a specific port.
• (SDK) Added InertialSense::setErrorHandler() to specify a callback function when parse errors are detected.
• (GPX) Added MSL altitude to GPX output of DID_GPSx_POS.
• (SDK) RTMC3 protocol added to DID_EVENT.
• (SDK) Sony Binary protocol added to DID_EVENT.

CHANGES:

• (EvalTool) Default selection for Log Format in EvalTool from "Serial Binary" to "Raw Packet".
• (GPX) Now responds to direct requests for DID_DEV_INFO (publishes same as DID_GPX_DEV_INFO)
• (EvalTool) Increases maximum number of supported devices to 136 (128 IS devices + 8 reference devices)
• (SDK/EvalTool) Added SYS_CMD_GPX_SOFT_RESET_GPX system command as a way to issue a GPX reset through the IMX.
• (SDK) $Intel NMEA message timestamp switch from milliseconds to seconds.
• (GPX) Improved long-term RTK stability
• (SDK) ISComm::reportParseError() includes the type of error (eParseErrorType) and counts occurrences of each.
• (SDK) Start of planned refactor of underlying port management to be device-specific, and consolidate port management.
• (cltool) Close cltool following sending reset command when using option "-reset".
• (GPX) Update GPX GNSS receiver default version v0.134_ISv0_2 to v0.151_ISv3_0.

BREAKING CHANGES

• (SDK) Variable dev_info_t.hardware was renamed to dev_info_t.hardwareType and changed to type uint8_t.

BUG FIXES:

• (EvalTool) Fixed Cancel button in Firmware Update dialog not cancelling. (Note: this is not a "Revert"; any update steps successfully completed prior may still be applied.)
• (EvalTool) Resolved segfault when exiting EvalTool
• (IMX) Fixed hardware detection third digit (micro/patch) version.
• (GPX) Ephemeris broadcasting causes Tx overflow fixed.
• (GPX) fwUpdate messages are passed upstream when not processed locally (fwUpdate stalls on IMX).
• (IMX) Fixed bug where platform config 12 would route GPS2 PPS to GPS1 PPS in an IMX/GPX pairing.
• (SDK) Fixed InertialSense::Update() closing all ports if any port is closed (or invalid).
• (IMX/GPX) Fixed UART DMA driver occasional data drop and packet corruption.
• (IMX/GPX) Fixed serial bridge mode throughput by reducing enabled protocols to ISB only.
• (GPX) Fixed RTK fix outage that occurs during two hour window prior to GMT week time wrap.
• (SDK) Fixed cISLogger crash caused by reading file with no numerical characters in filename. This prevents LogInspector from being able to open certain logs.

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.

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 1.12.0

• IS_IMX-5_v1.12.0_b8_2024-03-28_200603
• IS_uINS-3_v1.12.0_b6_2024-03-28_200607
• IS_EVB-2_v1.11.2_b72_2024-02-19_150640
• EvalTool v1.12.0 2024-03-28

NOTICE: To update IMX firmware from prior to 1.10.0, you must use the EvalTool or SDK 1.10.x or prior.

NEW FEATURES:

• (SDK) Added *.raw log file format to ISLogger which provides the ability to read and write arbitrary packets to a log.
• (EvalTool, cltool) Added support for data logging to .raw format.
• (SDK) Added support to ISLogger for filenames with only index number in filename.
• (IMX) Added magCalibrationQualityThreshold to DID_FLASH_CONFIG to allow for more tolerance to magnetometer noise.
• (EvalTool) Make magInterferenceThreshold accessible in DataSets tab.

BREAKING CHANGES:

• (SDK) NMEA ID indices (eNmeaAsciiMsgId) are shift up one value to make ID zero an invalid index.
• (SDK) msgCount was removed from DID_NMEA_BCAST_PERIOD (nmea_msgs_t) and a zero ID indicates the remaining values are not used.

CHANGES:

• (SDK) NMEA $ASCE message now accepts NMEA message identifier (i.e. PPIMU, PINS2, GxGGA) or message ID.
• (IMX) Adjusted EKF gravity reference gains to reduce attitude error during AHRS mode.
• (SDK/EvalTool) Exposed magnetometer interference and calibration quality thresholds for user adjustment to improve mag heading tracking in noisy environments.

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 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.
• (IMX) NMEA $ASCE can accept talker ID name instead of NMEA message ID number (i.e. $ASCE,0,PPIMU,1,PINS2,10,GxGGA,1*10\r\n).

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.