Pivot Firmware

PIVOT Release Notes

3.6 (August 21, 2024)

What’s New

• Support for high torque pivot camera head

• Gyro-only mode support

3.5 - 2024-04-15

Improvements:

• Modified battery full and normal thresholds

3.4 - 2024-02-22

Improvements:

• Power-based thruster lifetime management

• Camera head gravity lock

• Failing a motor will no longer freeze the motor opposite it.

Fixes:

• Tilt platform home on shutdown

3.3 - 2024-01-11

Improvements:

         - Increased overall system reliability

         - Serial over IP support added

         - Added Diagnostic Fault Codes to provide more detailed support logs

         - Implemented a timeout for tilt platform homing

Fixes:

                - Fixed issue with sensor pods not always calibrating correctly

3.2 - 2023-08-21

Improvements:

  - Added thruster thermal protection when operating with high voltage topside power kit

Fixes:

  - Fixed yaw jitter when operating with high voltage topside power kit

 3.1 - 2023-06-22

Improvements:

  - Thruster speeds reduced when ROV is out of water

  - Leak warnings were changed to be consistent across products

  - control systems tuned when using topside power

3.0 - 2023-03-27

Improvements:

  - High performance mode automatically enabled when using topside power

  - Allow station holding to be disabled
Fixes:

  - Improve handling of DVL altitude messages

  - Improve magnetic calibration read reliability

  - Miscellaneous bugfixes

2.6 - 2022-06-01

Fixes:

  - Bugfix for DVL planar controls

2.5 - 2022-04-25

Improvements:

  - IMU calibration support

  - Improved battery estimation features

Fixes:

  - Fixes jamming issue with tilt platform

2.4 - 2022-03-04

Improvements:

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

  - Lowered magnetic calibration score acceptance criteria

2.3 - 2021-12-20

Improvements:

  - New magnetic calibration feature

  - Added power-tool support

  - Added laser support

  - Improved depth control

Fixes:

  - Fixed pitch oscillation at the surface

2.2 - 2021-11-25

Fixes:

  - Miscellaneous bugfixes

2.1 - 2021-11-24

Improvements:

  - Changed battery notification thresholds

2.0 - 2021-11-15

Improvements:

  - Updated internal messaging system

  - Miscellaneous improvements

Fixes:

  - Reduced likelihood of dropped tether messages

1.9 - 2021-09-27

Fixes:

            - Fixed issue causing intermittent tether faults

1.8 - 2021-09-09

Improvements:

            - Added support for a50 DVL v2.0 and above

1.7 - 2021-08-20

Improvements:

  - Battery notification and monitoring improvements

  - New feature to disable auto-stabilization

1.6 - 2021-07-29

Fixes:

  - Fixed in water detection algorithm

1.5 - 2021-06-11

Improvements:

  - Improved vehicle pitch stabilization

  - O2 sensor enabled

1.4 - 2021-05-13

Fixes:

  - Fixes camera head sometimes not responding on startup

1.3 - 2021-03-10

Improvements:

  - Improved camera support

  - New sensors pod mounting position

  - New tilt platform homing feature

1.2 - 2021-03-01

Improvements:

  - Tilt platform parks on shutdown

  - DVL support added

  - Altitude hold mode added

  - Improved in water detection

1.1 - 2021-02-01

Improvements:

  - Reduced body roll when driving laterally

  - Tilt platform enabled

1.0 - 2021-01-27

Improvements:

  - First release