7.8.80

This section presents the changes between the previous firmware version of Veronte Autopilot 1x, v.7.8.66, and this firmware version, v.7.8.80. For further details, please consult the Service Bulletin nº00031.

Added

  • New system variable Target acquisition period (ID 299), which contains the expected period of the acquisition (CIO-HI) task. This complements the existing Acquisition Task Timestep (ID 2047), which records the actual execution period.

Changed

  • Update DriverLib for CM (ethernet driver)
  • AGL measurements now bypass the NIS (Normalized Innovation Squared) check. Because the AGL EKF is an isolated 1-state filter, this allows it to immediately track sudden altitude changes without the risk of cross-state divergence
  • Renamed BIT 100 from "Position not fixed/Position Fix" to "Navigation position not fixed/Navigation position fix" to make it more clear that this bit refers to the system level (navigation) position fix instead of the sensor level (GNSS) position fix
  • Renamed BIT 130 from "EKF Navigation ERROR/EKF Navigation OK" to "Position fix not ready for EKF/Position fix ready for EKF" to reflect its true meaning, which is that this BIT becomes true when any of the position sensors connected to the internal EKF has position fix

Fixed

  • Desincronization between FDR and firmware when downloading log files
  • Improved IMU fault handling for faster failure isolation: To be used in IMU fusion, an IMU must now have both a passing Built-In Test (BIT) and a valid last measurement. Previously, the system relied solely on the comprehensive but slower frequency-based BIT, which could allow stale measurements to be used for several cycles before a failure was flagged. This new real-time check ensures a failing IMU is disabled immediately
  • Fixed AGL initialization: The filter now waits for a valid geoid altitude at the UAV's current position before initializing with the first measurement. This ensures accurate conversions between the WGS84, MSL, and AGL reference frames
  • Fixed problem that caused the waypoint and mark achieved events not to be triggered when they were set in the last waypoint of the route
  • Fixed generation of STANAG message 4001 from automations
  • Fixed loiter command when it had a limited duration (number of laps or time)
  • Transitions between spherical and cartesian acceleration limits in the envelope in the presence of noisy measured IAS could lead to asymmetric speed bounding, which over time could accumulate into high commanded desired velocities. The fix makes envelope switching more robust preventing any cumulative effects on the desired velocity
  • Fixed an issue where rejoining a mission via a "Go To" command after a "Fly to Hover" or "Fly to Loiter" action would not respect the target waypoint's speed. The system now forces a guidance velocity reset to ensure the originally configured waypoint speed is recovered

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