6.12.138

This section presents the changes between the previous firmware version of Veronte Autopilot 1x, v.6.12.116, and this firmware version, v.6.12.138. For further details, please consult the Service Bulletin nº 00012.

Added

• Home Points status and selection are enhanced by providing an active/inactive indicator and modifying its reading block in PDI Builder. This improves RTH capabilities and improves its safety.

Changed

• The global configuration state (CRC) is now recomputed on load operations.
• Modified cruise velocity used in obstacle avoidance to clamp it to the actual velocity allowed in the envelope. This allows better control when close to the obstacle if the configured cruise speed was too high compared with the maximum horizontal (ground) or vertical (down) allowed speeds in the flight envelope.

Fixed

• The position fix is now not required to export the atmospheric calibration if the selected altitude to export is user defined.
• Operation parameters (obstacles, runways, routes) could be set to disabled for a few GNC steps when the operation was changed during flight. The fix prevents this issue, keeping the same set of enabled operation elements until the operation update is complete.
• Wind estimation algorithm was diverging during hardware restart due to some uninitialized values inside the algorithm. Now, all the members are correctly initialized to prevent this problem.
• Numerical errors in SIL that caused the quaternion control block to output NaNs in some cases when the thrust was close to vertical.