Pivot Firmware

PIVOT Release Notes

3.9 (November 14, 2024)

Bug Fixes:

• Fixed a bug that caused a tether communication fault in some configurations

3.8 (November 12, 2024)

What’s New:

• Various enhancements and improvements 

3.7 (September 24, 2024)

What’s New:

• Enables Sensor Pod+ calibrations when Oculus Sonar is connected

3.6 (August 21, 2024)
What’s New

• Support for high torque pivot camera head

• Gyro-only mode support

3.5 (April 15, 2024)
Improvements:

• Modified battery full and normal thresholds

3.4 (February 22, 2024)
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 (January 11, 2024)
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 (August 21, 2023)
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 (June 22, 2023)
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 (March 27, 2023)
Improvements:

• High performance mode automatically enabled when using topside power

• Allow station holding to be disabled
  Fixes:

• Improved handling of DVL altitude messages

• Improved magnetic calibration read reliability

• Miscellaneous bug fixes

2.6 (June 1, 2022)
Fixes:

• Bug fix for DVL planar controls

2.5 (April 25, 2022)
Improvements:

• IMU calibration support

• Improved battery estimation features
  Fixes:

• Fixed jamming issue with tilt platform

2.4 (March 4, 2022)
Improvements:

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

• Lowered magnetic calibration score acceptance criteria

2.3 (December 20, 2021)
Improvements:

• New magnetic calibration feature

• Added power-tool support

• Added laser support

• Improved depth control
  Fixes:

• Fixed pitch oscillation at the surface

2.2 (November 25, 2021)
Fixes:

• Miscellaneous bug fixes

2.1 (November 24, 2021)
Improvements:

• Changed battery notification thresholds

2.0 (November 15, 2021)
Improvements:

• Updated internal messaging system

• Miscellaneous improvements
  Fixes:

• Reduced likelihood of dropped tether messages

1.9 (September 27, 2021)
Fixes:

• Fixed issue causing intermittent tether faults

1.8 (September 9, 2021)
Improvements:

• Added support for a50 DVL v2.0 and above

1.7 (August 20, 2021)
Improvements:

• Battery notification and monitoring improvements

• New feature to disable auto-stabilization

1.6 (July 29, 2021)
Fixes:

• Fixed in-water detection algorithm

1.5 (June 11, 2021)
Improvements:

• Improved vehicle pitch stabilization

• O2 sensor enabled

1.4 (May 13, 2021)
Fixes:

• Fixed camera head sometimes not responding on startup

1.3 (March 10, 2021)
Improvements:

• Improved camera support

• New sensors pod mounting position

• New tilt platform homing feature

1.2 (March 1, 2021)
Improvements:

• Tilt platform parks on shutdown

• DVL support added

• Altitude hold mode added

• Improved in-water detection

1.1 (February 1, 2021)
Improvements:

• Reduced body roll when driving laterally

• Tilt platform enabled

1.0 (January 27, 2021)
Improvements:

• First release