Head tracker release notes

Firmware images

image-0.52 (2020-10-06)

  • fixed bug in MIDI Device Inquiry that made the message terminate erroneously.
  • reinstated travel mode.

image-0.51 (2020-10-01)

  • added gyroscope drift calibration.

image-0.50 (2020-09-23)

  • complete processing pipeline overhaul, with many bug fixes.
  • control gestures added as a replacement for physical buttons.
  • feature-complete apart from travel mode.
  • large version increment to imply readiness for pre-production evaluation.

image-0.14 (2020-06-06)

  • elaborated UART mode so as not to disturb performance with Dell XPS 15 laptop.
  • fixed UART mode to work with the headphone amplifier.

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-1.11 (2019-01-10)

  • dual-protocol (communicating in both bootloader conventions).
  • updated list of compatible devices.

sft-1.00 (2019-06-20)

  • first release.

Legacy Downloads

Supperware Firmware Tool

This app connects to your head tracker, tells you the version of firmware it is currently running, and allows you to upgrade. Download the appropriate one for your system.

Firmware images

Supperware Firmware Tool will ask for a .bin file. Voilà. Get the appropriate version for your hardware or you won’t be able to upgrade.


Here are the instructions
for using Supperware Firmware Tool.