6.14.28

This section presents the changes between the previous firmware version of Veronte Autopilot 1x, v.6.12.116, and this firmware version, v.6.14.28. For further details, please consult the Service Bulletin nº 0008.

Added

  • GNC

    • External navigation parser is available to receive external navigation through high frequency custom messages.
    • A External Binary Code block is now available to develop custom code (license needed).
    • Real system variable for the acceleration due to gravity at the current UAV position.
    • Gravity calculation in navigation frame is computed with altitude and latitude corrections.
    • Estimated accelerometer and gyroscope bias are limited to protect navigation estimations.
    • Custom adapter navigation block to compute into EKF with any custom state.
    • Improved attitude estimation for fixed wing aircraft when the GNSS fix is lost.
    • PID block for thrust feed-forward input to quaternion control block.
    • PID block initialization input.
    • Field type "Incremental Counter", incremented for each sent.
    • Function to read trip PWM.
    • Delta and range limits are configurable in magnetometer devices.
    • Custom external sensor calibration is available.

  • Safety & certification

    • Geocaging functionality now complies with ED270.
    • Enhanced bootloader increases versatility and robustness during firmware updates.
    • Operation variables can be set to a default value to protect from a "Non value in operation PDI" error.
    • Bits to monitor acceleration and gyroscope saturation.
    • Operation BIT is thrown if an operation error has ocurred.
    • Protections for position, velocity & pressure estimations outside the estimated range.
    • Check on Taxi guidance block for the selected initial position of the runway.
    • PDI error (156) is thrown when address configured in production file is "unknown".
    • An adittional confirmation is required to reboot for changing mode.

  • Communications

    • Telemetry vectors can be enabled/disabled.

  • SIL

    • Support for CAN messages in SIL.
    • Veronte SIL support for Linux.

  • Others

    • System address is now stored in the OTP (One Time Programmable) memory.

Removed

  • GNC
    • Mixed_endian format in CRC for transmission protocols for custom messages.
    • Variance smoother of the altimeter sensor for EKF computation.
    • Time out of the altimeter sensor for EKF computation.
    • Correction applied to the dynamic pressure sensor value due to compressible flow.
    • GroundSpeed mode in Total Energy Control block.
    • External commanded pressure USSA first order filter.
    • PDI 250 (magcal), 251 (stpcal), 252 (qinfcal), used to store old calibration data.

Changed

  • GNC

    • Multirotors to perform a hover when they arrive to the end point of a patch.
    • Improved performance around obstacle corners.
    • Better control when close to an obstacle.
    • Defined output for math blocks when the input is not in the domain of the operation.
    • Total Energy Control block acceleration use enhancement.
    • Change the behavior of the splitter. If a consumer is not available, the available one is not affected.
    • Guidance not reset on mode or 4x autopilot changes.
    • External command for atmospheric USSA calibration.
    • Velocity state in navigation is now double precision to decrease numerical errors in inertial navigation.
    • 4x Arbiter allows to change to maintenance mode while in arbitration.
    • HMR2300 magnetometer moved to "External sensors".
    • Custom messages capacity now is shared by all the instances.
    • EKF enhanced to avoid inestabilities in the filter in relative positioning.
    • Enhancement on estimated AGL.
    • Computation of polygons with a large number of edges without impacting performance.
    • Configurable mask on Checksum8's field on Custom Message.
    • More robust envelope. Now the acceleration limits have more priority than velocity.
    • Optimisation in the readings of the Geoid, SRTM and magnetic field maps.
    • 3D temperature calibration enhanced.
    • Configuration field to set variance of dynamic pressure sensors.
    • Groups of polygons for polygon event configuration.
    • Relative features can only be relative to a group of absolute features: operation features, moving objects, home feature and the UAV position.
    • VectorNAV navigation AGL height added.

  • Safety & Certification

    • CPU temperature bit enhanced.
    • Protection on external phase commands (via VCP).Now the only way to change a phase is trough an action.

  • VCP

    • Patches (route) modified to include the position of the starting waypoint of the patch.
    • Route is stored as a list of patches, each of which can be of different type (point, line, arc, etc.).

Fixed

  • Operation update during the flight more robust. Prevents disabling elements during the save.
  • The "Route finished" bit is also set when the current route is a circle.
  • Initial position fixed in the system features.
  • Dynamic pressure fixed.
  • CRC ASCII parsing as hexadecimal and decimal value.
  • Wind estimation algorithm more robust.
  • Protections added in custom messages for floating point numbers.
  • In/outbound computation fix for 3D polygons.
  • High priority thread CPU ratio performance enhanced.
  • AGL calibration more robust when there is no SRTM data available.
  • Geoid and magnetic field use optimized.
  • Attitude estimation more sobust to misalignment measurements (magneto, GNSS compass, etc.).
  • Protections for correct execution of events during the initialization.
  • More robust switch from internal and external navigation.
  • Corrections on static pressure calibration for old units.
  • CAN Custom Messages Producer initialization messages.
  • GNSS compass fix.
  • CAN ID port checking.

© 2025 Embention. All rights reserved.