This release supports future (yet-to-be-announced) IMUs and adds new features to existing IMUs.

Firmware Download

You can download the firmware package below for your Pulse IMU.

Download Firmware Archive

The archive contains a CLI (Command Line Interface) tool and documentation to help you easily update your device firmware.

Key highlights

Added dual serial output support for PULSE-20

Users can now enable a second serial output on the Pulse-20 IMU (Port B).

When using this mode, users can select different messages on each port, or configure the same messages with different baud rates.

A common use case is to output the IMU_SHORT message at a low frequency (200 Hz or below) for navigation, while outputting the same IMU_SHORT message at a high frequency (1 or 2 kHz) for control. In this configuration, the port with the highest ODR has priority for message generation and output, ensuring the lowest possible latency.

Added configurable FIR filters for accelerometers and gyroscopes & decimation mode configuration

To provide better control over downsampling and accommodate different application requirements, users can now:

  • Add an additional FIR filter to further reduce the bandwidth of both accelerometer and gyroscope data.
  • Select the downsampling mode between simple decimation (last value) and a moving average filter.


The following diagram describes how the feature interfaces with the sampling loop:


Firmware 3.4 - Filtering and decimation block diagram

This feature is compatible with all Pulse IMUs, with the following particularities:

  • On the Pulse-40 OEM, a custom filter is configured by default. It is a simple delay filter applied to gyroscope data to synchronize it with accelerometer data. Removing this filter reduces gyroscope latency but causes the gyroscope and accelerometer data to become unsynchronized.
  • On the Pulse-20, the custom filter and decimation settings can only be used on Port A. The decimation configuration on Port B always uses a moving average filter. We therefore recommend using Port A for control and Port B for navigation.

Support of future IMUs

Firmware 3.4 is the first version to support the future Pulse-40 Box and Pulse-90 IMUs.

These IMUs have not yet been announced at the time of publication of these release notes. Be sure to read our newsletter for more information.

Release notes 3.4.443-stable

Bug Fixes

  • IMUFW-589 - Fix rare PULSE-40 v1 gyroscope initialization failure
  • IMUFW-591 - Fix CBIT reporting false gyroscope errors on some PULSE40v1 units during high-rate rotations

Release notes 3.4.215-stable

New Features

  • IMUFW-551 - Added support for Pulse-40 Box
  • IMUFW-472 - Added support for Pulse-90
  • IMUFW-555 - Added SYNC_DIR pin management for Pulse-40v1 used with the serial interface board
  • IMUFW-548 - Reduced gyroscope output latency on Pulse-40 v2
  • IMUFW-510 - Added dual serial output support for Pulse-20
  • IMUFW-500 - Added configurable decimation filtering from 2khz-to-ODR (options: last sample or moving average)
  • IMUFW-430 - Added configurable FIR filters for accelerometers and gyroscopes

Improvements

  • IMUFW-561 - Added ±4000°/s extended-range support for Pulse-40 v2
  • IMUFW-528 - Updated PULSE-80 accelerometer range to ±40g on all Pulse-80 following the removal of the standard range/high range distinction

Bug Fixes

  • IMUFW-549 - Fixed /api/v1/info to return features instead of featuresList
  • IMUFW-502 - Fixed magnetometer initialization