The 2.x firmware introduces support for new ELLIPSE Series 3 hardware. It brings many performance improvements by taking advantage of a more powerful 64 bit CPU allowing double precision computations and more complex algorithms.

A lot of code has been reworked to improve the overall quality, stability, reliability of the sensor and especially regarding how the time is managed.

The main new features and additions are listed below:

  • Adds support for new ELLIPSE Series 3 hardware
  • Improved accuracy and performance with an updated Extended Kalman Filter using double precision numbers for all operations for ELLIPSE Series 3 hardware. This also improve the filter stability and reliability in difficult conditions and during low dynamics.
  • This firmware includes the latest World Magnetic Model to cover the 2020 to 2025 time frame
  • Improved UTC and PPS time management to better cop with noisy PPS signals

Firmware package and upgrade

Related SDK

This Ellipse firmware version is associated with Inertial SDK 6.2 release, please make sure you have install it before proceeding the upgrade and follow the firmware upgrade procedure.

Download Firmware

For now, the 2.1 firmware is ONLY compatible with ELLIPSE Series 3 hardware and should NOT be applied on ELLIPSE Series 1 or 2.

Changes for release 2.1.94-stable

Bug

  • [ELIFW-500] - Fix Novatel GNSS Binary Frame not decoded

Changes for release 2.1.84-stable

Bug

  • [ELIFW-498] - Fix Sync Out A pin not correctly driving for ELLIPSE A/E Box v3

Changes for release 2.1.54-stable

New Feature

  • [ELIFW-475] - Add Sync In D support for ELLIPSE-N/D Series 3 OEM version
  • [ELIFW-492] - Add support for ELLIPSE-A/E v3 OEM versions

Improvement

  • [ELIFW-491] - Now, NMEA messages return empty fields if invalid

Bug

  • [ELIFW-493] - Fix X/Y axis inversion for ELLIPSE-A/E v3 (box version only)

Changes for release 2.1.28-stable

New Feature

  • [ELIFW-486] - Added support for ELLIPSE-E v3
  • [ELIFW-487] - Now ELLIPSE-N and D can accept RTCM corrections over Port A

Changes for release 2.0.240-stable

New Feature

  • [ELIFW-424] - Add support for new ELLIPSE-D Series 3
  • [ELIFW-428] - Added in SBG_ECOM_LOG_GPS#_POS status report for all GNSS constellations
  • [ELIFW-440] - Add status to SBG_ECAN_MSG_AUTO_TRACK_SLIP_CURV (0x220) message
  • [ELIFW-441] - Add Cobham AT_ITINS output log support
  • [ELIFW-445] - Add support for new ELLIPSE-N Series 3 with RTK capabilities
  • [ELIFW-461] - Added in SBG_ECOM_CMD_FEATURES gnss firmware version field

Improvement

  • [ELIFW-253] - Improve gyroscopes and accelerometers over range detection
  • [ELIFW-413] - Improved off-board magnetic calibration when experiencing high roll and pitch angles
  • [ELIFW-436] - Improved generator / UTC alignment to plain seconds
  • [ELIFW-443] - Improved PPS clock alignment accuracy and UTC time management
  • [ELIFW-473] - Increased maximum curvature radius from 100 to 1000 meters

Removed Feature

  • [ELIFW-427] - Removed support for deprecated model ID commands 06, 10, 16
  • [ELIFW-457] - Removed legacy IG-500 protocol support
  • [ELIFW-468] - Removed auto configuration of ublox Max M8 for ELLIPSE-E