Firmware release notes

2.7.9

November 7, 2024

Added ZDA offset, ZDA polarity and ZDA decimal options for PPS.

2.7.8

October 25, 2024

Set max file size for internal log files for command logging to 10 MB. Circular logging if full.

Added dynamic configuration of remote monitoring points (MP1, MP2) via UDP.

2.7.7

October 10, 2024

Added more options for high pass filter for yaw: 2nd or 4th order.

2.7.6

October 7, 2024

Fixed duplicates in config files introduced in fw v. 2.7.5.

2.7.5

October 7, 2024

Added option for high pass filter for yaw output in body frame (var. 126).

2.7.4

September 30, 2024

With bug fix for magnetometer.

2.7.3

September 12, 2024

N/A

2.7.2

July 25, 2024

Supports analog output. Added new sensor types. 

2.7.1

July 15, 2024

Support for junction box with analog output. 1. version with this feature. See new docs for API commands for analog output. Added extra cases for improving factory config file restoration.

2.7.0

N/A

2.6.9

July 8, 2024

Added factory config files for backup if originals are corrupted. Extra robustness to power cycles during save operation.

2.6.8

June 24, 2024

Fixed bug with "set,mounting,angles" command. This command did not work from fw. v. 2.5.6.

2.6.7

N/A

2.6.6

May 7, 2024

Added HP heave filter in cascade for use with crane wire pay out. New implementation of filter with difference method. Added custom tuning for HP filter.

2.6.5

May 5, 2024

Added HP heave filter in cascade for use with crane wire pay out.

2.6.4

February 23, 2024

With PPS. Fixed PPS in status byte.

2.6.3

February 22, 2024

With PPS. Added PPS to status byte. Removed logging of mounting commands.

2.6.2

February 20, 2024

With PPS. Fractional seconds for PPS posix time.

2.6.1

February 19, 2024

With PPS. Added pps_enabled to turn on/off PPS sync.

2.6.0

February 19, 2024

With PPS. First tested implementation of PPS.

2.5.6

January 15, 2024

Crane wire aiding. New setmore commands for setting multiple parameter with 1 command. Disabled auto restart after change in network settings. Use set,network,save to save network settings.

2.5.5

December 18, 2023

Crane wire aiding. 4th order high pass filter of crane wire aiding to match heave filter. Crane aid off as default.

2.5.4

November 3, 2023

Crane wire aiding. 4th order high pass filter of crane wire aiding to match heave filter.

2.5.3

October 26, 2023

Bad fw. Crane wire modification gone wrong.

2.5.2

October 24, 2023

Crane wire and Crane Hook use modes. Added fucntion set,crane aid, on.

2.5.1

September 22, 2023

Fixed bug with 2 wire RS-485. Fixed setings for set,serial,modbusrtu.

2.5.0

September 22, 2023

Fixed bug with 2 wire RS-485. Crane wire semi solution is also implemented. but need to be improved.

2.4.12

August 23, 2023

Fixed with general purpose for crane aid. (use mode is selctable)

2.4.11

July 27, 2023

Beta version with crane wire aid via PCRN NMEA via udp.

2.4.10

July 5, 2023

Changed magnetometer scaling to mgauss.

2.4.9

June 23, 2023

Modified filter for angular acceleration estimation. Used for calculation of remote heave acceleration.

2.4.8

June 14, 2023

Changed default use mode to back to "General Purpose". No other changes.

2.4.7

April 13, 2023

Added a new use mode: "Crane Wire". This mode uses very strong high pass filtering for heave. NOTE: Crane wire mode is default in this fw version.

2.4.6

March 28, 2023

Added new internal system file structures with info about production and calibration date etc. Made compatible with older fw versions for upgrade.

2.4.5

March 13, 2023

Changes to the structure of internal MRU information files. NOTE: Not backwards compatible with older fw versions. I.e. if fw v. 2.4.5, or newer is installed , it is not possible to downgrade to an older fw version. 

2.4.4

January 14, 2023

Modified length and checksum fields of custom binary protocol (SUM instead of XOR).

2.4.3

January 4, 2023

Fixed bug with simultaniously using RS-232 and RS-485 ports for double serial output with custom NMEA and EM 3000 protocol.

2.4.2

December 21, 2022

Added double output protocol: PSXN and EM3000 protocol to RS232 and RS485.

2.4.1

December 6, 2022

Fixed bug with UDP error causing crash. Stable release for all MRUs.

2.4.0

November 16, 2022

Unified firmware version that works on all NORSUB MRUs including magnetometer recognition.

2.3.7

November 2, 2022

Unified firmware that works on all NORSUB MRUs. 

2.3.6

N/A

2.3.5

N/A

2.3.4

October 25, 2022

Added protocols SMCCg and NORSUB6g

2.3.3

October 1, 2022

With new magnetometer, LED with status

2.3.0

September 7, 2022

For new magnetometer.

2.2.7

March 1, 2022

Bug fix for reading new sensor.

2.2.6

February 26, 2022

Internal rebuilds, no functional changes.

2.2.5

N/A

2.2.4

February 26, 2022

Internal rebuilds, no functional changes.

2.2.3

February 25, 2022

Internal rebuilds, no functional changes.

2.2.2

N/A

2.2.1

N/A

2.2.0

February 24, 2022

Bug fix from 2.1.0

2.1.0

December 14, 2021

Added new version of sensor for MRU 9000.

2.0.5

September 24, 2021

Fixed orientation of raw mag data for subsea mru.

2.0.4

September 23, 2021

Internal chamges for orientation of magnetometer.

2.0.3

September 9, 2021

For regular MRUs. Same as 2.0.2 otherwise. Fixed issue with RS-485 2-wire auto. Set to 4 wire.

2.0.2

September 8, 2021

For MRUs with humidity & temperature sensors.

2.0.1

August 24, 2021

With 3 udp output ports.

2.0.0

August 11, 2021

Fixed bug with udp streamers. For MRUs with humidity & temperature sensors.

1.9.2

March 9, 2021

For new MRUs produced after March 9 , 2021.

1.9.1

July 1, 2020

Fixed bug with Status A and B (U16), STATUS 1,2,3,4 (U8). 

1.9.0

June 25, 2020

Added PRDID protocol as NORSUB_PRDID. Added Status A and B (U16), STATUS 1,2,3,4 (U8). Added NORSUB7B protocol with Status A and B. 

1.8.11

June 12, 2020

Added new PRDID protocol.

1.8.10

March 19, 2020

Firmware compatible with new 2 wire RS-485 MRUs. No performance changes.

1.8.9

March 18, 2020

Changed high pass filter settings in DP mode. Greater high pass filter cut off frequency (heavier filtering).

1.8.8

December 17, 2019

Improved high pass filtering in DP mode for surge and sway.

1.8.7

November 18, 2019

For 2 wire RS-485, baudrate bug fixes.

1.8.6

November 18, 2019

For 2 wire RS-485.

1.8.5

September 5, 2019

Bug fixes for surge and sway health monitoring.

1.8.4

September 3, 2019

Fixed settings for ModbusRTU and serial ports.

1.8.3

August 28, 2019

Fixed heave health monitoring to work at all latitudes.

1.8.2

August 22, 2019

Minor enhancements with no impact on performance.

1.8.1

July 10, 2019

Bug fixes and updated ethernet/IP settings.

1.8.0

June 26, 2019

Added new setting GyroAccFc (cut off fc for remote acceleration projection). 

1.7.10

June 25, 2019

Minor changes, no functionality changed.

1.7.9

June 20, 2019

Added accelerations incl. gravity in Body frame as output.

1.7.8

June 19, 2019

Added etherNetIP and ModbusRTU. New implementation of ModbusTCP.

1.7.7

June 12, 2019

Minor improvement in surge/sway health monitoring.

1.7.6

June 12, 2019

Bug fix in heading frame output.

1.7.5

May 29, 2019

Minor enhancements with no impact on performance.

1.7.4

May 27, 2019

Minor enhancements with no impact on performance.

1.7.3

May 24, 2019

Modbus TCP default is sensor values at holding register.

1.7.2

May 16, 2019

Modbus TCP default is sensor values at input register.

1.7.1

May 14, 2019

ModbusTCP implemented.

1.7.0

May 13, 2019

ModbusTCP ready.

1.6.16

May 10, 2019

Remote acceleration fixed and tested.

1.6.15

May 3, 2019

Temporary modification of remote acceleration.

1.6.14

May 2, 2019

Improved DP mode to have better phase. 

1.6.13

April 25, 2019

Decreased tolerances on rollp in health monitoring.

1.6.12

April 24, 2019

Increased tolerances on rollp in health monitoring.

1.6.11

April 17, 2019

Changes to custom NMEA protocol. New interpretation of %8.3e format.

1.6.10

March 19, 2019

Added tempC to list of output variables.

1.6.9

March 11, 2019

Bug fix, NTP server state is saved to memory.

1.6.8

March 8, 2019

Updated default settings for custom protocols.

1.6.7

March 8, 2019

Added remote monitoring modes Projection and Virtual MRU.

1.6.6

March 7, 2019

Bug fix for Custom NMEA and binary protocols. Bug fix for SD card log files.

1.6.5

March 5, 2019

Added new protocol NORSUB8 with all pos and vel outputs in the NED frame.

1.6.4

February 27, 2019

Bug fix and  new modes for remote monitoring points. 

1.6.3

February 20, 2019

Bug fix for remote monitoring points.

1.6.2

February 19, 2019

Minor enhancements with no impact on performance.

1.6.1

February 18, 2019

Added health monitoring and DP mode for surge/sway.

1.6.0

January 31, 2019

Bug fix MDL protocol, made RS-232 start command backward compatible.

1.5.11

January 23, 2019

Bug fix in NTP server, added  inverted axes option for output.

1.5.10

January 18, 2018

Added NTP server, new mounting orientation settings; main and fine mounting angles.

1.5.9

January 14, 2019

Minor enhancements with no impact on performance.

1.5.8

January 14, 2019

Minor enhancements with no impact on performance.

1.5.7

December 13, 2018

Minor enhancements with no impact on performance.

1.5.6

December 10, 2018

Bug fix SD card drive (2).

1.5.5

December 6, 2018

Bug fix SD card drive.

1.5.4

November 16, 2018

Bug fixes to magnetic heading.

1.5.3

November 4, 2018

Added magnetic heading as output option.

1.5.2

November 1, 2018

Added user defined magnetometer calibration settings.

1.5.1

November 19, 2018

Added option for magnetometer.

1.5.0

October 30, 2018

New MRU linux OS version.

1.4.10

October 22, 2018

Bug fix in remote monitoring point.

1.4.9

October 11, 2018

Removed g from surge, sway and heave acceleration output. Added Ap (peak amplitude) as output.

1.4.8

September 21, 2018

First stable release with new heave algorithm. Tested at Motion lab.

1.4.7

September 20, 2018

Improvements in peak period estimation. Note: minor performance changes.

1.4.6

September 19, 2018

Improvements in internal statistics calculations. 

1.4.5

September 17, 2018

Minor enhancements with no impact on performance.

1.4.4

September 13, 2018

Improvements in frequency estimation. Note: performance changes.

1.4.3

September 13, 2018

Improvements in heave algorithm. Note: performance changes.

1.4.2

August 29, 2018

Minor enhancements with no impact on performance.

1.4.1

August 27, 2018

Minor enhancements with no impact on performance.

1.4.0

August 23, 2018

Stable release.