DTG3 Firmware

DTG3 Release Notes

5.6 (June 22, 2023)
Improvements:

• Improved pitch control algorithm with an option to toggle pitch control style

• Oculus sonar is now discovered with DHCP

• Leak warnings were changed to be consistent across products

• Added support for the sensor pod+

5.5 (May 12, 2022)
Improvements:

• Improved grabber stall logic

• Improved pitch control algorithm
  Fixes:

• Fixed occasional motor stall issues

5.4 (April 25, 2022)
Improvements:

• IMU calibration support

• Improved battery estimation features
  Fixes:

• Improved filtering for pitch encoder angle

5.3 (March 4, 2022)
Improvements:

• Auto-stabilization disabled mode will now use open loop camera control

5.2 (December 20, 2021)
Improvements:

• New magnetic calibration feature
  Fixes:

• Vertical thruster mode now uses the same pitch control as depth mode

5.1 (November 24, 2021)
Fixes:

• Fixed bug preventing open loop precision thruster control

5.0 (November 19, 2021)
Improvements:

• Updated internal messaging system

• Miscellaneous improvements

4.4 (August 20, 2021)
Improvements:

• Battery notification and monitoring improvements

• New feature to disable auto-stabilization

4.3 (July 15, 2021)
Fixes:

• Fixed bug causing intermittent camera disconnects

4.2 (June 14, 2021)
Fixes:

• Fixed bug causing tether faults in specific ROV configurations

4.1 (May 28, 2021)
Fixes:

• Fixed bug in camera startup procedure

4.0 (May 28, 2021)
Improvements:

• Improved leak detection

• Improved camera detection

• Improved camera angle

3.10 (January 15, 2021)
Improvements:

• Reliability improvements

3.9 (September 18, 2020)
Improvements:

• Reliability improvements

3.8 (August 19, 2020)
Improvements:

• Now supports V6S sensor pods

• Improved peripheral and camera detection and connection
  Fixes:

• Fixed some system and sensor pod faults

• Lights now work while in motors disabled

• Fixed grabber operation bug