7.8.32

This section presents the changes between the previous firmware version of Veronte Autopilot 1x, v.7.8.18, and this firmware version, v.7.8.32. For further details, please consult the Service Bulletin nº00023.

Added

• Added PDI error number 73 "when tunnel configuration is not valid".
• Added system bits to know when there has been a teleport (reset) in the EKF. BIT 141 (EKF height not teleported) and BIT 142 (EKF lonlat not teleported).
• Support for Soft Iron magnetometer calibration.
• Geographic north calibration in magnetometer.
• Added variables: System Uvar 117 (GNSS1 Fix Type) and Uvar 167 (GNSS2 Fix Type) to publish the Ublox fix type for GNSS1 and GNSS2 modules respectively. The possible values are: 0 (no fix), 1 (dead reckoning only), 2 (2D fix), 3 (3D fix), 4 (GNSS + dead reckoning combined) and 5 (time only fix).
• Added reset in EKF height estimation under certain conditions to prevent false jumps in estimated vertical velocity.
• Added improved EKF reset logic. Measurements must first pass the NIS check before being considered for teleporting. Height teleport occurs when innovation exceeds 20m, state variance exceeds 100m², state variance is greater than 2× sensor variance, and height dead-reckoning time exceeds 5s. The height state is reset to measurement value with 10× measurement variance. Horizontal teleport activates when innovation exceeds 20m, state variance exceeds 100m, state variance is greater than 2× sensor variance, and horizontal dead-reckoning time exceeds 5s. This operates only when full EKF state is operational and resets north-east position states with 10× measurement variance.
• Added lead time brake of 1 second to compensate the control delay and reach the desired waypoint speed over the waypoint.

Removed

• Bit variable 329 (3.3V Power Source Bit) as not being used

Fixed

• Fixed ADSB MAVLink input via internal transponder.
• Fixed messages lost when RTCM producer is connected to a Tunnel Consumer.
• Fixed duplicated ACKs.
• Fixed features writing zeros in fast logs.
• Fixed system Ready to Start BIT correctly updated.
• Fixed landing waypoint numbers recovered.
• Fixed where the Earth's rotation correction was incorrectly applied to angular velocity data coming from external navigation sources and simulators, which could cause small attitude and rate errors in those modes.
• Fixed block triggering of CAN messages only sent a message with the change from disabled to enabled the first time
• Fixed when using VectorNav VN300 as a navigation source, the UAV navigation position was being updated even when the received navigation from VectorNav did not have a valid position fix. Now the position is only updated when the VN300 has a valid position fix
• Fixed EKF teleport BITS are now only true in the steps where there is a teleport instead of being true until the next update step
• Fixed body acceleration computation when in navigation simulation mode
• Fixed transition from external to internal navigation when internal navigation had GNSS fix was not working correctly
• Fixed the automatic atmospheric calibration was using an unninitialized height value when the firs height measurement was from a GNSS source with an estimated variance greater than the estimated height variance. Now if the first height measurement is from a GNSS source that height is used as the initial reference
• Fixed an issue where changes in wind speed or direction could unintentionally alter the commanded airspeed, improving speed hold accuracy in windy and variable wind conditions