(Fixed) Modifications for backwards compatibility with 1.2d hardware variants and earlier.(New) Added compatibility for IMU04 connected via CAN to be used for slip translations and true heading2 smoothing.(Changed) T2Csv-tg1 & T2Ctg-tg1 calculation change - improved noise reduction.(New) Use of Kalman Filter position for ADAS parameter calculation when satellites drop to zero.(New) Use of IMU_heading for ADAS calculations when dual antenna solution is not available.(Fixed) Fixed VCI channels communication to Multi-Function Display (DSP03).(Changed) Fixed CAN delay timing changed from 15.5ms to 20ms.(Changed) IMU integration filter improvements CAN.(New) IMU integration Roof mount support.(New) 'Solution Type' channel has been added to the RS232 serial stream when serial rate is set to 50Hz.Note: earlier firmware versions do not support RTK Moving Base on V4 (1.3 and higher) hardware variants. (Fixed) Moving Base now supported on V4 hardware.(Fixed) IMU attitude channels synchronised.(Fixed) Fix for analogue channels being lost on MFD after power cycle.(Fixed) Fix for Internal analogue delay.(Fixed) Dual Antenna align now performs a ‘Clear’ of value before calculating and applying a new offset.(Fixed) Angle offset data (IMU) applied to output channels.(Fixed) ADAS Time to collision calculation.(Fixed) Gyro offset calibration for IMU03.Continuous logging mode, logging will now begin on every insertion of CF card (New) Status bit to indicate dual antenna lock.(New) Elevation mask added to file header.(New) Firmware version added to VCI bus.(New) IMU Attitude channels added to VCI bus.(New) Pitch & Roll offsets worked into Kalman Filter translation.(New) Kalman Filter Expansion for ADAS modes.To ensure full compatibility, the following software and firmware should also be updated - VBOX Tools 2.17 b477 or later. (Fix) Multi Static Point ADAS mode no longer fails on mode selection.(Fix) Positional drift when Kalman Filter used in stand-alone GPS mode.(Fix) True Heading 2 will no longer accumlate when True Heading drops out.(Change) Translated Slip Angle channels clamped to zero when True Heading drops out.(Change) Quantisation noise on Accel_tg1/2 removed.(Change) Vehico configuration is now enabled as a separate function, and not on mode selection.(New) In Single/Multi Target mode, the number of contact points can be defined as either One or Two.(New) Leap second default set to 18 seconds.(New) New ADAS channels LngRref tg1/tg2.(Fix) CAN output updates (see latest online documentation) DGPS solution type added Kalman Filter status moved.(Fix) ADAS - Fix to header file for Static point reference lane.(Fix) Kalman Filter - Improvements for IMU03 Kalman filter stability performance.(Fix) Kalman Filter - Improved initialisation stability.(Fix) Kalman Filter - Fix for erroneous behaviour possible with large IMU to antenna offsets. (Fix) Kalman Filter - Fix for implausible speed values observed around poor GPS conditions.(Fix) Kalman Filter - Fix for held speed observed around poor GPS conditions.(Fix) Standard VB3i - 20Hz RS232 brake test data calculation fixed.(New) Dual antenna - Slip angle calculation stability improvements.
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