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AHRS 8 Version 4 2 10 Release Notes

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Priyanshu Sil
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40 views3 pages

AHRS 8 Version 4 2 10 Release Notes

Uploaded by

Priyanshu Sil
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Release Notes

Sparton Navigation Modules


AHRS-8 Software Version 4.2.10 Release Notes

This document details the differences between:


 Version 4.0.2 and Version 4.2.10

The version creation dates are:


 Version 4.0.2 – 9/10/2013
 Version 4.2.10 – 8/6/2014

Low Power Mode


Very Fast Exit From Low Power Mode
An exit from low power mode is even faster since RAM is now preserved during low power mode so there is
no longer a need to read from non-volatile memory.

NorthTek
New NorthTek Command: db.save
The new db.save command forces database changed values, which are marked permanent, out from RAM to
EEPROM. Changed values will eventually get saved without this command but this command invokes the
action sooner.

Quaternions
Fixed a bug affecting the variables named quaternion and pMatrix2
This releases fixes a bug that occurred for non-level orientations (pitch, roll and yaw were unaffected by this
problem). This bug occurs when the orientation of the AHRS-8 is set to a non-level orientation which can be
set using the “tare” capability as well as by setting the variable named orientation or by setting the boresight
matrix (via the variables boresightMatrixX, boresightMatrixY, boresightMatrixZ). Orientations that rotated
around the Z axis (didn’t affect pitch and roll) did not have this problem.

In-field Calibration
Improved 3-D in-field calibration
The software has changed to improve handling of magnetic distortions that cause cross-axis errors.
Release Notes

Eliminated unnecessary writes to non-volatile memory


Unnecessary writes to non-volatile memory were occuring during an in-field calibration process. The software
was changed to write to non-volatile memory only once at the end of the in-field calibration process.

Created a new in-field calibration status variable


A database variable named "calStatus" was added with the following possible ordinal values. This variable is
stored in non-volatile memory and gives the status of the in-field calibration result data in magFieldCalX,
magFieldCalY, magFieldCalZ, magCrossAxisCorrectionX, magCrossAxisCorrectionY and
magCrossAxisCorrectionZ.

 0 = DEFAULT
 1 = INPROGRESS
 2 = COMPLETED
 3 = ABORTED

Improved in-field calibration error handling


Ensure that a prematurely terminated calibration point capture (terminated during the point averaging period)
will not carry over into the next calibration point capture. The averaging period is defined by
calPointsNumToAvg * 10 milliseconds.

Correction to subtle error in subsequent in-field calibration computations


In the case of in-field calibrations that were not the first in-field calibration taken since power-up, initial
magErr computations may have used up to calNumPoints of the previous in-field calibration values. But after,
at most, calNumPoints of iterations, then the old values would have been flushed out. This issue has been
corrected.

In-field calibration parameter defaults


The in-field calibration related data defaults were changed and they are reset to defaults in the restoreFieldCal
command to indicate invalid in-field cal data. The defaults changed (lower is better) are:
- magErr2 = 999.0 // this will quickly be recomputed
- magFieldCalErr = 999.0
- magFieldCalTot = 99999.0
- magHorzFieldCalTot = 99999.0
These defaults didn't change but now they are restored in restoreFieldCal (higher is better):
- magPointQF = 0.0
- possibleMagPointQF = 0.0
- calPointDistribution = 0.0

2 (Rev 1.0)
Release Notes

In-field calibration configuration value defaults were changd


These defaults were changed to speed up the in-field calibration convergence (period of time spent waiting for
magErr to converge). The defaults are now:
infieldCalMu = 6.0e-2
infieldCalMu2 = 2.0e-7
infieldCalMu3 = 2.0e-8

3 (Rev 1.0)

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