Head tracker release notes

Firmware images

image-0.13 (2020-03-22)

  • UART mode.
  • minor improvements to USB handling.

image-0.12 (2020-02-21)

  • fixed a race condition that could corrupt operation, degrading data and drastically slowing response times.
  • made some changes to improve MIDI parsing.

image-0.11 (2020-01-15)

  • compatible with version 3 hardware.
  • updated CMSIS library.

image-0.10 (2020-01-08)

  • fixed travel mode bug (starting in the wrong state).
  • fixed compatibility issues when upgrading over previous versions (magnetometer incorrectly switched on).
  • button protocol changed.

image-0.09 (2019-12-04)

  • probably the last major feature upgrade to the version 2 head tracker.
  • added working travel (fast, slow) and 6DOF (data-driven, neck, and spine) modes.
  • fully compatible with what will become version 3 hardware, including its two buttons.
  • supports MIDI Device Inquiry, for simple remote hardware/firmware version detection.
  • improved accuracy of zeroing, and initial zeroing has been properly instated.
  • experimental data-driven 6DOF code exists, but is currently unusable.
  • trigonometry now has better interpolation.
  • interrupt pins are pulled down properly, simplifying the diagnosis of unreliable sensors.

image-0.08 (2019-10-14)

  • breaking change: moved from Q3.10 arithmetic to Q2.11, adding a bit of precision.
  • new extended protocol, which should not constitute other breaking changes.
  • added experimental quaternion and orthogonal modes.
  • button MIDI and magnetometer on/off settings are now saveable.
  • magnetometer calibration mode runs on the head tracker.
  • added a read-back function for saveable parameters, which replaces the message that provided remote control of magnetometer calibration.
  • many smaller dynamic improvements to head tracker performance.

image-0.07 (2019-08-23)

  • experimental build of a work-in-progress.
  • completely rewritten processing pipeline: fixes wander caused by complex head movements.
  • new magnetometer calibration required.
  • a few known issues to be fixed and features to be documented.

image-0.06 (2019-07-09)

  • suppresses the first two samples of data from each sensor, as it’s always bad data.
  • upped gyroscope activity threshold to attempt to fix drift seen in unit 03W.
  • output is now in the range 0..2π for yaw, pitch, and roll.

image-0.05 (2019-06-25)

  • tightened up filters to improve responsiveness.
  • changed internal calculation of pitch and roll orientation.
  • further magnetometer performance improvements.
  • vestiges of 6DOF pipeline used to tighten up accelerometer data.

image-0.04 (2019-06-13)

  • improved the magnetometer and gyroscope logic by making angular compensation work a little better.
  • improved handling of magnetometer on/off toggling.
  • bug fix: gyroscope drift correction (it now works in both directions).

image-0.03 (2019-06-12)

  • bug fix: Holds off sending output and zeros head tracker first, to prevent erratic behaviour.

image-0.02 (2019-06-10)

  • first release.

Supperware Firmware Tool

sft-1.00 (2019-06-20)

  • first release.