Release 2.2.0

• IS_GPX-1_v2.2.0+2024-11-08-214552.encrypted.bin
• IS_IMX-5_v2.2.0+2024-11-08-214248.hex
• IS-firmware_r2.2.0+2024-11-08-214222.fpkg
• EvalTool v2.2.0+2024-11-08

NEW FEATURES:

• (SDK) Add "-verbose" argument to cltool to increase report/log level during some operations (mostly firmware upgrades) (use additional '+' after '-verbose' to further increase log level). (PR-709)
• (SDK) Added additional log levels "MORE_INFO" and "MORE_DEBUG". (PR-713)
• (SDK) Added step/command error reporting for each device updated through ISFirmwareUpdater, and implemented reporting in clTool & EvalTool.
• (GPX) GPX performs GNSS hardware status checks and reports via DID_GPX_STATUS under 'hdwStatus'. (PR-977)
• (GPX) Dynamic minimum RTk GNSS CN0 threshold to improve performance in EMI noisy environment. See gnssCn0DynMinOffset and gnssCn0Mimimum in the flash config.
• (GPX) Sending a change in 'key' to a different value or 'size' with a value of '1' in DID_GPX_FLASH_CFG sets GPX flash config to default.

CHANGES:

• (SDK) New packet reading and parsing functions is_comm_port_parse_messages() and is_comm_buffer_parse_messages() in ISComm.c simplify message parsing and provide message type specific callback functions.
• (SDK) Added additional RTK ephemeris debugging values.
• (SDK) Added Ephemeris receive bit to DID_GPS_SAT
• (GPX) Add Dynamic model to GPX RTK.
• (SDK) V2 DataChunk supports protocol+fwVersion of the device, if available. (PR-709)
• (SDK) Changed default verbosity level to "INFO" (PR-713)
• (SDK) Cleaned up logging styles/text/formatting for ISFirmwareUpdater and InertialSense class. (PR-713)
• (SDK) Added extensive/robust logging to ISFirmwareUpdater (use '-verbose++' to see it). (PR-713)
• (SDK) Added additional, or refactored existing manifest commands to offer a more robust firmware upgrade process (see "manifest.yaml" for details). (PR-713)
• (IMX) IMX paired with GPX now responds to request for DID_RTK_DEBUG.
• (IMX) Modified ublox RTK fix requirements to ensure a more robust fix.
• (GPX) Improved RTK fix stability
• (GPX) Enabled support of iterated EKF in RTK engine
• (IMX) Enabled re-computation of the RTK solution in post-processing by default to help analyze how RTK engine changes affect IMX performance in "golden logs".
• (EvalTool) Data log converter output size for CSV files increased from 5MB to 50MB.
• (SDK) cISLogger::CopyLog() method parameters were rearranged.
• (GPX) Hardware checks are now performed before confirming firmware update. (PR-89)
• (GPX) Hardware checks are now performed before allowing OTP to be set. (PR-983)
• (SDK/EvalTool) cISDataMappings refactored and now used in the EvalTool to replace parcel data set descriptions.
• (SDK) Fixed ISLogger max disk usage limit (culling) to prevent eventual filling of drive when logger is restarted multiple times. File culling (deletion) was moved from DeviceLog.cpp to ISLogger.cpp to monitor global log disk usage of root log directory (i.e. IS_log) and proper file culling (deletion of oldest files).
• (cltool) Logger option -lmb drive usage limit in MB was added.
• (SDK) cISLogger option for drive usage limit in MB added configurable via cISLogger::SaveInit().
• (SDK) cISLogger::InitSave(), cISLogger::InitSaveTimestamp(), and InertialSense::SetLoggerEnabled() have been deprecated. Use of cISLogger::InitSave(directory, options) and InertialSense::EnableLogger() is recommended.
• (IMX) Improved kinematics learning speed in the Ground Vehicle mode
• (IMX) Kinematic constraints are not used when RTK is available to prevent higher position errors due to kinematic model inaccuracy
• (IMX) Improved detection and handling of degraded GNSS in the Ground Vehicle mode
• (SDK) Renamed macros dot_Vec2() dot_Vec3() dot_Vec4() to DOT_VEC2() DOT_VEC3() DOT_VEC4() in ISMatrix.h and created normal functions with lower case used to save code space.

BREAKING CHANGES

• (SDK) Moved message callback function registration in the com_manager.c as a parameter (is_comm_callbacks_t) in comManagerInit() and removed comManagerSetCallbacksInstance().
• (SDK) Changed NMEA strings with 'Gx' as the prefix now use 'GN'. i.e. 'GxGSV' is now 'GNGSV'. (PR-701)
• (SDK) Removed DeviceLogSorted and DataChunkSorted classes. (PR-709)
• (SDK) Updated com_manager.h callback typedefs to be consistent with other similar data-parsing callbacks (returning int), and updated usages throughout code.
• (cltool) Logger option -lms drive usage limit was switched from percent of available drive to percent of total drive.

BUG FIXES:

• (GPX) Fixed issue where RTK solution oscillated between fix and float at start.
• (cltool) Fixed issue which prevented failures during fwUpdate process from exiting with non-zero exit code. (PR-713)
• (SDK) Fixed issue where cISLogger::CopyLog() would write duplicate DID_INS_1 data when converting logs if DID_INS_1 already existed in source log.
• (GPX) Fixes issue where GNSS_INIT_x flag is being raised falsely after update.
• (IMX) Fixed an issue where INS heading would not stop aligning in the Ground Vehicle mode.
• (GPX) Fixed error in parsing DID_GPX_RMC.
• (GPX) Fixed issue where receiving DID_GPX_RMC causes an IOOB error.
• (GPX) Fixed bug where GPX Serial 1 was not initialized properly.
• (EvalTool) Fixed built-in test (BIT) display in INS tab status window.
• (IMX) Fixed bug where GPS position aiding flag (in insStatus) would not clear during dead reckoning.

KNOWN ISSUES

• (GPX) (SN-4689) INS position saw-tooth pattern probably caused from GNSS position/velocity time synchronization error.
• (GPX) Ser2 UART communications port is not yet supported.

Release 2.1.10

• IS_GPX-1_v2.1.10+2024-10-04-205446.encrypted.bin
• IS_IMX-5_v2.1.10+2024-10-04-205146.hex
• IS-firmware_r2.1.10+2024-10-04-205123.fpkg
• EvalTool v2.1.10+2024-10-04

CHANGES:

• (GPX) Enable debug via flash config: register dump, error code reporting, hard fault, and Ser0 init check.
• (SDK) Renamed defines 'GMRC_BITS_...' to 'GRMC_BITS_...' for consistency.
• (IMX) Use GPS2 in addition to GPS1 to set INS_STATUS_GPS_NAV_FIX in insStatus and HDW_STATUS_GPS_SATELLITE_RX in hdwStatus.
• (GPX) GPS mean CN0 is always updated. Previously it was only updated while the solution was in fix.
• (GPX) Revert flash config size to original size in release 2.1.4.
• (GPX RTK) Disabled SV health flag processing for Galileo satellites to allow use of valid satellite observations.
• (GPX RTK) Changed baseline constraint fusion in float solution to improve solution convergence time.
• (GPX RTK) Disabled cycle slip detection via doppler to address false positives caused by noisy doppler from the GPX GNSS receivers.
• (GPX RTK) Compassing tuning to improve solution stability. Note, this increases first time to fix to roughly 2 minutes.
• (SDK) Increase delay between GPX update and CXD from 10 to 30 seconds in manifest.yaml used during the firmware update process. Note this adds delay to the overall firmware update process when using a *.fpkg file.
• (IMX) Ability to send hardware non-UART based software reset and stop broadcast commands on Ser0 for debug.

BUG FIXES:

• (IMX) Fixed RS-485 transmit by clearing cfg.linear_buf mode flag in the dma driver.
• (IMX) IMX flash sync with GPX no longer automatically fails if a size mismatch exists.
• (IMX) Fixed hard fault caused when GPS ports are disabled then re-enabled via ioConfig.

Release 2.1.3

• IS_IMX-5_v2.1.3+2024-09-09-182356.hex
• IS_GPX-1_v2.1.3+2024-09-09-182657.encrypted.bin
• IS-firmware_r2.1.3+2024-09-09-182333.fpkg
• EvalTool v2.1.3+2024-09-09

CHANGES:

• (GPX) Pre-enabled all standard GPX output messages for use with IMX.
• (IMX/GPX) Added debug code to re-initialize Ser0 driver using DID_SYS_CMD.
• (GPX) GPX broadcasts primary messages (see GRMC_PRESET_GPX_IMX) by default .

BUG FIXES:

• (GPX) Fixed an issue where GNSS receiver may become unresponsive if receiver firmware update is interrupted.

KNOWN ISSUES

• (GPX) (SN-4689) INS position saw-tooth pattern probably caused from GNSS position/velocity time synchronization error.
• (GPX) Ser2 UART communications port is not yet supported.

Release 2.1.2

• IS_IMX-5_v2.1.2+2024-08-29-193335.hex
• IS_GPX-1_v2.1.2+2024-08-29-193704.encrypted.bin
• IS-firmware_r2.1.2+2024-08-29-193302.fpkg
• EvalTool v2.1.2+2024-08-29

NEW FEATURES:

• (IMX) GPS PPS input count added to DID_GPS1_TIMEPUSE.
• (IMX) GPS PPS noise detection and reported in hdwStatus (eHdwStatusFlags::HDW_STATUS_ERR_GPS_PPS_NOISE).
• (cltool) Generic display for all datasets defined in ISDataMappings.cpp.
• (cltool) introduced new argument (-vd) to disable device validation.
• (GPX) DID_GPX_STATUS message now contains more information about GNSS receiver state.

CHANGES:

• (SDK) NMEA GSV SDK documentation update.
• (cltool) Miscellaneous, minor improvements to cltool run/display logic

BUG FIXES:

• (IMX/SDK) Fixed NMEA $ASCE message so it now accepts GXGSV (uppercase "X") as well as GxGSV (lowercase "x").
• (IMX) Fixed issue that causes erroneous momentary reporting 0 (off) for the solution status in the insStatus.
• (GPX) DID_GPS1_RAW and DID_GPS2_RAW now broadcasting ephemeris message at expected rate.
• (IMX) Fixed issue where if USB is not in use and data is set to broadcast out of the USB port a TxOverflow would be flagged (SN-5514)
• (cltool) Fixed -sysCmd option send reliability for DID_SYS_CMD.
• (cltool) Reduced default transmit rate (periodMultiple) for non-rmc messages which was 1ms which may be problematic on some systems.
• (cltool) Fixed stalls when querying single DID with no response (implement default 30-second timeout, overridden using -dur option).
• (cltool) -stats cmd argument now correctly displays DID stats
• (cltool) Fixed errant display when "onceDid" (-did =0) is set, for both PRINT_PRETTY and PRINT_SCROLL.

KNOWN ISSUES

• (GPX) (SN-4689) INS position saw-tooth pattern probably caused from GNSS position/velocity time synchronization error.
• (GPX) Ser2 UART communications port is not yet supported.

Release 2.1.1

• IS_GPX-1_v2.1.1+2024-07-19-201512.encrypted.bin
• IS_IMX-5_v2.1.1+2024-07-19-201227.hex
• IS-firmware_r2.1.1+2024-07-19-201204.fpkg
• EvalTool v2.1.1+2024-07-19

NEW FEATURES:

• (SDK) Filters added to DID_EVENT.
• (SDK) CLTool now able to configure DID_EVENT filters.
• (EvalTool) Now downloadable as an AppImage for Linux Systems
• (GPX) GPX now responds to ISB_GET requests for DID_RTK_DEBUG.
• (GPX) Added watchdog reset to GPX.
• (GPX) Added reset reason to DID_GPX_STATUS.
• (GPX) Added DID_GPX_PORT_MONITOR and DID_PORT_MONITOR GPX RMC.
• (SDK) NMEA protocol now supports filtering of GxGSV by constellation and frequency.

CHANGES:

• (SDK) Added sent byte length error checking to is_comm_write() in ISComm.c.
• (SDK) Changed return values for is_comm_write() and related functions that write directly to the serial port. These functions now return 0 on success and -1 on failure.
• (IMX) While GPS type is GPX, IMX now passes DID_RTK_DEBUG requests to GPX.
• (GPX) Improve fault reporting in GPX.
• (SDK) Changed the output values of DID_DEV_INFO to allow version numbers to be more deterministic
• (SDK) Cltool/ISDisplay now report “RESET REQUIRED” “TX LIMITED” and “RX OVERFLOW” in addition to showing the FlashCfg checksum.
• (ALL) Version numbering has changes slightly
• (SDK) Changes made to build scripts to accomodate Python>=3.11 and also Ubuntu>=24.04
• (EvalTool) Resolves Ubuntu 24.04 (kernel 6.8.0) unconfigured /dev/ttyS* ports showing up in available ports

BREAKING CHANGES

• (SDK) Switched size and offset parameter order in functions is_comm_get_data() and is_comm_get_data_to_buf().
• (SDK) DID_BIT data set (bit_t) refactored to separate input command from current state. lastCommand added to record last input command.
• (SDK) Change port from signed int to unsigned int in ISComm.c and com_manager.c.

BUG FIXES:

• (GPX) Fixes bug in GPX where DID_GPS2_RTK_CMP_MISC gives corrupted info when requested directly.
• (SDK) Fixed issue in DID_BIT in which loopback serial ports cause BIT to cancel.
• (SDK) Fixed serialPortWritePlatform() limitation in serialPortPlatform.c that caused occasional data drop sent from host pc (SDK).
• (SDK) Fixed bug where GxGSV would be mangled on non-GPS constellations.
• (IMX) Prevent magnetometer recalibration status if magnetometer fusion is disabled.
• (GPX) Fixed bug when DID_GPX_PORT_MONITOR reports invalid values for port 0 and 3 (SN-5363).
• (GPX) Fixed bug were DID_GPS2_RTK_CMP_REL, DID_GPS2_RTK_CMP_MISC, and DID_GPS1_RTK_POS_REL could only be broadcast via Serial0.
• (IMX) Fixed issue where platform type in flash config would not get set correctly when set in manufacturing info.
• (SDK) Fixed issue where flash config sync would not update checksum correctly and perform unnecessary flash sync if platformConfig type was unchanged. Ignore bit PLATFORM_CFG_UPDATE_IO_CONFIG when checking whether to upload flash config platformConfig from InertialSense class.
• (IMX) Fixes an issue where IMX cannot broadcast over USB if the host reboots during a session.
• (SDK) Fixes bug where direct upgrade from firmware version 1.10 to 2.x was impossible.
• (SDK) Fix cltool imx ISB firmware update status text
• (SDK) Fixes a broken logger in the ISLoggerSimpleExample.cpp project.
• (EvalTool) Fixed data log "File Conversion Utility". Removed multi-directory selection from the "Select Directory" pop-up dialog. Multi-directory selection only works with the drag and drop feature.

KNOWN ISSUES

• (GPX) (SN-4689) INS position saw-tooth pattern probably caused from GNSS position/velocity time synchronization error.
• (GPX) Ser2 UART communications port is not yet supported.

Release 2.1.0

• IS_IMX-5_v2.1.0_b43_2024-05-30_103301.hex
• IS_GPX-1_zephyr_v2.1.0_b127_2024-05-30_103454.encrypted.bin
• EvalTool v2.1.0_2024-05-30

NEW FEATURES:

• (cltool) Add --list-devices (or -list-devices) to print all discovered Inertial Sense devices, port, hardware and firmware information.
• (cltool) Add support to display GPX_STATUS messages.
• (cltool) Displays unsupported DID messages in HEX format.
• (cltool) Added "-raw-out" option to print colorized raw hex formatted dumps of entire ISB packets.
• (GPX) DID_GPX_STATUS message now able set hdwStatus flags.
• (IMX) EKF only fuses GPS Velocity if GPS position is present.
• (GPX) GRMC message timing staggered to avoid Tx limited events on GPX. Staggering will reset any time GPX receives DID_GPX_RMC.
• (GPX) DID_GPX_PORT_MONITOR added to GPX.
• (IMX) DID_PORT_MONITOR give more verbose information.
• (SDK) port_monitor_set_t expanded to give more information about data port activities on the device.
• (SDK) DID_INTERNAL_DIAGNOSTIC removed.
• (GPX) Added fault detection for missing parameters in the RTK compassing algorithm.
• (IMX) Added general fault code to IMX's paired with GPX to alert the user if the GPX had Tx limited or Rx overrun events occur.
• (GPX) DID_RTK_DEBUG now able to be broadcast by GPX.
• (GPX) Added GNSS firmware update required detection.
• (SDK) Added InertialSense::BroadcastBinaryData(pHandle) variant to request broadcast data for a specific port.
• (SDK) Added InertialSense::setErrorHandler() to specify a callback function when parse errors are detected.
• (GPX) Added MSL altitude to GPX output of DID_GPSx_POS.
• (SDK) RTMC3 protocol added to DID_EVENT.
• (SDK) Sony Binary protocol added to DID_EVENT.

CHANGES:

• (EvalTool) Default selection for Log Format in EvalTool from "Serial Binary" to "Raw Packet".
• (GPX) Now responds to direct requests for DID_DEV_INFO (publishes same as DID_GPX_DEV_INFO)
• (EvalTool) Increases maximum number of supported devices to 136 (128 IS devices + 8 reference devices)
• (SDK/EvalTool) Added SYS_CMD_GPX_SOFT_RESET_GPX system command as a way to issue a GPX reset through the IMX.
• (SDK) $Intel NMEA message timestamp switch from milliseconds to seconds.
• (GPX) Improved long-term RTK stability
• (SDK) ISComm::reportParseError() includes the type of error (eParseErrorType) and counts occurrences of each.
• (SDK) Start of planned refactor of underlying port management to be device-specific, and consolidate port management.
• (cltool) Close cltool following sending reset command when using option "-reset".
• (GPX) Update GPX GNSS receiver default version v0.134_ISv0_2 to v0.151_ISv3_0.

BREAKING CHANGES

• (SDK) Variable dev_info_t.hardware was renamed to dev_info_t.hardwareType and changed to type uint8_t.

BUG FIXES:

• (EvalTool) Fixed Cancel button in Firmware Update dialog not cancelling. (Note: this is not a "Revert"; any update steps successfully completed prior may still be applied.)
• (EvalTool) Resolved segfault when exiting EvalTool
• (IMX) Fixed hardware detection third digit (micro/patch) version.
• (GPX) Ephemeris broadcasting causes Tx overflow fixed.
• (GPX) fwUpdate messages are passed upstream when not processed locally (fwUpdate stalls on IMX).
• (IMX) Fixed bug where platform config 12 would route GPS2 PPS to GPS1 PPS in an IMX/GPX pairing.
• (SDK) Fixed InertialSense::Update() closing all ports if any port is closed (or invalid).
• (IMX/GPX) Fixed UART DMA driver occasional data drop and packet corruption.
• (IMX/GPX) Fixed serial bridge mode throughput by reducing enabled protocols to ISB only.
• (GPX) Fixed RTK fix outage that occurs during two hour window prior to GMT week time wrap.
• (SDK) Fixed cISLogger crash caused by reading file with no numerical characters in filename. This prevents LogInspector from being able to open certain logs.

KNOWN ISSUES

• (GPX) (SN-4689) INS position saw-tooth pattern probably caused from GNSS position/velocity time synchronization error.
• (GPX) Ser2 UART communications port is not yet supported.

Release 2.0.6

• IS_IMX-5_v2.0.6_b186_2024-04-14_011527.hex
• IS_GPX-1_zephyr_v2.0.6_b233_2024-04-14_011728.encrypted.bin
• EvalTool v2.0.6_2024-04-14

CHANGES:

• (SDK/EvalTool) Added SYS_CMD_GPX_SOFT_RESET_GPX system command as a way to issue a GPX reset through the IMX.

BUG FIXES:

• (SDK) Fixed NMEA issue where UTC timestamp would wrap incorrectly at the end of week.
• (SDK) Fixed NMEA issue where LLA degree decimal minutes format was truncated in the GGA message.
• (SDK) Fixed NMEA GSV message to properly report signed satellite elevation when negative.
• (IMX) Fixed occasional redundant GPS message (ISB and NMEA) output when used with the GPX.

KNOWN ISSUES

• (IMX) IMX will occasionally send truncated packets when running with startupNavDtMs = 7ms and aided by GPX RTK compassing. As a work around when using the IMX with GPX and RTK compassing it is recommended to set startupNavDtMs = 20ms.
• (GPX) (SN-4689) INS position saw-tooth pattern probably caused from GNSS position/velocity time synchronization error.
• (GPX) Ser2 UART communications port is not yet supported.
• (GPX-RTK) RTK compassing known issues:
  • (GPX-RTK) (SN-4871) Occasion RTK compassing loss of fix (dropout) during operation.
  • (GPX-RTK) (SN-4844) Missing ephemeris data for various satellites.
  • (GPX-RTK) (SN-4876) Missing L5 GPS raw observations. The expected L5 data is present for about 15 seconds and missing for 150-180 seconds.

Release 1.12.0

• IS_IMX-5_v1.12.0_b8_2024-03-28_200603
• IS_uINS-3_v1.12.0_b6_2024-03-28_200607
• IS_EVB-2_v1.11.2_b72_2024-02-19_150640
• EvalTool v1.12.0 2024-03-28

NOTICE: To update IMX firmware from prior to 1.10.0, you must use the EvalTool or SDK 1.10.x or prior.

NEW FEATURES:

• (SDK) Added *.raw log file format to ISLogger which provides the ability to read and write arbitrary packets to a log.
• (EvalTool, cltool) Added support for data logging to .raw format.
• (SDK) Added support to ISLogger for filenames with only index number in filename.
• (IMX) Added magCalibrationQualityThreshold to DID_FLASH_CONFIG to allow for more tolerance to magnetometer noise.
• (EvalTool) Make magInterferenceThreshold accessible in DataSets tab.

BREAKING CHANGES:

• (SDK) NMEA ID indices (eNmeaAsciiMsgId) are shift up one value to make ID zero an invalid index.
• (SDK) msgCount was removed from DID_NMEA_BCAST_PERIOD (nmea_msgs_t) and a zero ID indicates the remaining values are not used.

CHANGES:

• (SDK) NMEA $ASCE message now accepts NMEA message identifier (i.e. PPIMU, PINS2, GxGGA) or message ID.
• (IMX) Adjusted EKF gravity reference gains to reduce attitude error during AHRS mode.
• (SDK/EvalTool) Exposed magnetometer interference and calibration quality thresholds for user adjustment to improve mag heading tracking in noisy environments.

KNOWN ISSUES:

• (IMX) GPS PPS input time synchronization when using NMEA protocol is currently not supported. This will be available in a future release.
• (IMX) Updating IMX-5 bootloader over serial port (UART) is not yet supported.
• (IMX) External GNSS using NMEA protocol input to aid the EKF is not currently supported in the IMX-5.

Release 2.0.5

• IS_IMX-5_v2.0.5_b135_2024-04-02_165401.hex
• IS_GPX-1_zephyr_v2.0.5_b200_2024-04-02_165555.encrypted.bin
• EvalTool v2.0.5_2024-04-02

CHANGES:

• (SDK) Revised SetFlashConfig to only upload 32bit word contiguous segments that are modified.
• (SDK) Revised InertialSense flash synchronization to properly wait and report upload.

BUG FIXES:

• (SDK) Have cltool -did [DID#]=0 (ISDisplay) return 0 on exit to indicate success.
• (GPX) Fixed stalled GNSS firmware update caused by an excessive wait following baud rate change.
• (SDK) Expanded SegBus error checking across more code domains for ARMv7 MPUs.

KNOWN ISSUES

• (GPX) (SN-4689) INS position saw-tooth pattern probably caused from GNSS position/velocity time synchronization error.
• (GPX) Ser2 UART communications port is not yet supported.
• (GPX-RTK) RTK compassing known issues: (see [GPX_RTK_Compassing_Performance_Report_2024-2-27.pdf](https://github.com/inertialsense/inertial-sense-sdk/releases/download/2.0.1/GPX_RTK_Compassing_Performance_Report_2024-2-27.pdf) for details)
  • (GPX-RTK) (SN-4871) Occasion RTK compassing loss of fix (dropout) during operation.
  • (GPX-RTK) (SN-4844) Missing ephemeris data for various satellites.
  • (GPX-RTK) (SN-4876) Missing L5 GPS raw observations. The expected L5 data is present for about 15 seconds and missing for 150-180 seconds.

Release 2.0.4

• IS_IMX-5_v2.0.4_b56_2024-03-28_223915
• IS_GPX-1_zephyr_v2.0.4_b72_2024-03-28_224102.encrypted
• EvalTool v2.0.4_2024-03-25

NEW FEATURES:

• (GPX) GPX now accepts sys command to reset GNSS receivers.
• (SDK) Created ISLoggerSimple example project to illustrate how to use the SDK cISLogger class to log raw data to file.
• (IMX)(EVAL) GPX-specific messages passed through IMX now follow traditional RMC and ISB_get requests.
• (IMX) NMEA $ASCE can accept talker ID name instead of NMEA message ID number (i.e. $ASCE,0,PPIMU,1,PINS2,10,GxGGA,1*10\r\n).

CHANGES:

• (cltool) Added -ufpkg option to cltool as a simple method of using firmware update package files (.fpkg).

BUG FIXES:

• (SDK) Fixed nmea_sprint_footer() dependency on a null terminated string when computing checksum.
• (IMX) Fixes bug with IMX flash config being passed to GPX where IMX does not send all settings.
• (SDK) Fixed NMEA $GNGGA sentences incorrectly reporting E/W N/S direction for near zero (<1 degree) coordinates.
• (SDK) Fixed SEGBUS error on ARM7 32-bit architecture MPUs in ISDataMappings.cpp for double pointer dereferencing in GetTimestamp().

KNOWN ISSUES

• (GPX) (SN-4689) INS position saw-tooth pattern probably caused from GNSS position/velocity time synchronization error.
• (GPX) Ser2 UART communications port is not yet supported.
• (GPX-RTK) RTK compassing known issues: (see [GPX_RTK_Compassing_Performance_Report_2024-2-27.pdf](https://github.com/inertialsense/inertial-sense-sdk/releases/download/2.0.1/GPX_RTK_Compassing_Performance_Report_2024-2-27.pdf) for details)
  • (GPX-RTK) (SN-4871) Occasion RTK compassing loss of fix (dropout) during operation.
  • (GPX-RTK) (SN-4844) Missing ephemeris data for various satellites.
  • (GPX-RTK) (SN-4876) Missing L5 GPS raw observations. The expected L5 data is present for about 15 seconds and missing for 150-180 seconds.