7.8.66

This section presents the changes between the previous firmware version of Veronte Autopilot 1x, v.7.8.50, and this firmware version, v.7.8.66. For further details, please consult the Service Bulletin nº00030.

Added

• OAT (Outside Air Temperature) sensor block to compute the real outside density and use it in TAS (True Airspeed) calculation
• Anti-windup in the control allocation block when using non-square matrices. Control feedback now only reports reduced commands when the servos are genuinely saturated, improving disturbance rejection and tracking
• New system bit with ID 144 and name "EKF position fix not fresh/EKF position fix fresh", which is true when the last position update was accepted (passed the NIS check) less than 2.5 seconds ago

Changed

• Variable "C2 Memory allocation" moved from ID 139 to 145
• On change of active cruise guidance, when there is no selected "Start route" in the new cruise guidance, the patch the UAV will fly to is the first patch of the route only if the option "Track reset" is selected. Otherwise it will continue flying the patch it was flying before. Before this change, with no enabled "Start route" it always flew to the first patch

Fixed

• NMEA position parser
• Log generation when Session uses GPS time
• Ethernet routing feature and SCI-E and SCI-F Tx/Rx Flags
• Ping to Cloud ID
• ADC factor when is a 4x
• Improved cold-start behavior of the navigation filter when GNSS is unavailable: the very first valid non-GNSS altitude measurement (e.g. static pressure) is now used to seed the vertical state instead of being rejected by the NIS consistency check. Previously, accelerometer bias and gravity uncertainty at startup could let the estimated altitude and vertical speed drift far enough that the first altitude fix looked inconsistent and was discarded, leaving the filter unable to recover. With this change, the filter initializes height from that first measurement and resets vertical speed to zero, giving a clean starting point and preventing the unbounded drift on GNSS-denied startup
• Input OAT limited to the range [150, 400]K as a value of 0K produced an invalid air density computation. OAT values outside that range now are discarded and the temperature from the USSA76 atmospheric model is used instead
• The position-fix status now clears when the internal EKF has gone more than 2.5 seconds without accepting a position update
• The waypoint event now triggers only while the active patchset is the Route (cruise) patchset; on any other patchset it stays inactive
• The initial point to fly to when switching to cruise guidance is now always the initial route point when the configured initial point is left blank in the guidance configuration block. Before this change the behaviour was different depending if it was the first time this guidance was flown or successive times