7.7.0latest2026-07-15 at 10:25 p.m.All downloads (3)View Details🔖 Release 7.7.0Bug Fixesangle-control: increase waypoint step sizes to produce meaningful torque (6805db6)angle-control: prevent violent snap and oscillation in cursor mode (8b84c9b)angle-control: restore _waypointFirstStep guard for cursor control (c4197d0)angle-control: restore accumulating waypoint from feat/waypoint-navigation (b01baec)autoscale: detect WSB boundary oscillation in FOD and stop endpoint shake (e2ad67c)autoscale: guard F3 damping behind AUTOSCALE_SESSION_BOUNDARY_DAMPING flag (344a3b6), closes #ifautoscale: preserve workspace boundary during Freeform scale changes (eaf2316)autoscale: reduce WSB osc backoff [secure] positives and add V18 telemetry (f65f68a)autoscale: remove FOD WSB boundary oscillation monitor (7f1ee1f)bench: make latency regression robust to dirty worktrees and per-ref failures (b32a315)build: silence InverseX_debug compiler warnings (a6a58b9)ci: fixing the version of the teensy platform (7f256d7)comment useless logs and change into FOD escalating the unwanted vibrations (54826ec)controller: suppress idle-still auto-park while SDK session is active (9779102)cursor-position: add 300ms cooldown after pause before re-arming interrupt detection (6c2e779)cursor-position: always send state response to host, even during interrupt pause (05b74c0)cursor-position: disable PID on interrupt pause to prevent torque re-application (14d3ac3)cursor-position: increase step and tracking error threshold to generate sufficient torque without gravity comp (dcc31e2)cursor-position: use goal angles for interrupt detection, not interpolated waypoint (95626bc)cursor-position: use tracking error flag to detect blocks, removes [secure] positives (4cf2951)cursor: only reset force-handoff timer on position packets (def5c25)cursor: suppress WSB in joint spring assist zone (83fb665)cursor: zero force output when arm is folded (902e5f1)fod: correct inner workspace boundary detection (aeafa0e)fod: correct inner workspace boundary detection (4317e01)fod: force-directed workspace boundary eBrake with outward radial gates (c8de4be)fod: force-directed workspace boundary eBrake with outward radial gates (ef11405)fod: reduce inner boundary [secure] trips with 1cm margins and power gate (a494749)fod: reduce inner boundary [secure] trips with 1cm margins and power gate (8252fa0)fod: require user motion to exit PANIC when app force is zero (8907fd0)fod: require user motion to exit PANIC when app force is zero (bd1e5b3)fod: tighten inner boundary stop and add device workspace presets (51703c0)fod: tighten inner boundary stop and add device workspace presets (4ddac47)gravcal: add session mass auto-cal and disable idle departure lock (5b13583)gravcal: defer Hub-OFF AG FF until session estimate is ready (a465f13)gravcal: zero tool mass when Hub disables gravity compensation (78b5865)gravity: reset gravity ramp on inkwell calibration complete (6a1c51a)handoff: add idle departure UX and app session handoff wiring (dea0ef2)handoff: add menu-off safety gravity and app-end park hardening (3562977)handoff: extend idle hold park timeout from 5 s to 60 s (8dd27e3)handoff: keep app-end park only and restrict hold ring to disconnect (0e4548c)handoff: respect BFLGReturnHome flag in app-end park timeout path (b700336)handoff: silence app-end ring and restore FOD post-release tone (17a315f)handoff: tune pop-out hold PID to KP=46 KI=2 KD=0.45 (020b25c)imu: always capture gravity direction at inkwell cal, sim-frame only when mode != manual (9c89986)imu: atomic quaternion+acceleration update in manual mode (48e4ebe)imu: correct stale comments and guard _prime_cache() return (1f0c32b)imu: decouple gravity-comp IMU reads from sim-frame mode in setup controller (90f771e)imu: gate Inkwell docking IMU reads on BFLGImuOrientationSensorEnabled (0bd6f1b)imu: gravity comp always reads live BNO055, sim frame only updates in sensor_auto (65f17b7)imu: rate-limit bno055 async pump to the main control timestep (89bddfe)imu: register 0xE4 in com_link receive allowlist (81ca58b)imu: register BFLGImuSimFrameEnabled/Live in states.cpp, fix testbench comment (27558f1)imu: reject unsupported protocol versions on 0xE4 (c041b32)imu: remove dev/bno055-async-i2c-alpha from alpha (6fd226d)imu: remove dev/bno055-async-i2c-alpha from beta (3bed732)keep the handoff even if the returntohome is disable (530e4db)LED signal when we hold the position in idle (f2463e3)notif: force 0xBB on ebrake entry when panic fires at FOD_STAGE_GUARD (520caad)notif: raise constant-force safety notification to critical (0dcfccd), closes #84perf: force teensy-cli upload for headless CI flashing (fbdcba1)perf: put teensy_loader_cli on PATH for teensy-cli upload (7bf8c2f)perf: require system teensy_loader_cli; non-fatal preflight (a8aafd6)pid: pid param tunuing (4e35acc)pos-control: disable spring assist during pos control (f88e89c)prevent return to home if safety is triggered in idle (798ff63)return home: tune cancel_threshold (3X) (c1de4ed)return-to-home: disable joint spring assist during return-to-home (6c13256)return-to-home: prevent [secure] user-interrupt on state entry (0b94ea1)safety-config: pass raw force when stationary preload is disabled (e0389c9)safety: gravity-comp FF during e-brake hold + suppress idle home violet LED (76e0247)setup: answer passive IMU queries in-state, never through the FSM (996db55)sim: add force-response demos and inline dashboard inference (1dd67f1)sim: add plant NN pipeline, live dashboards, and telemetry capture (0db1dbf)test: stub is_device_at_home_position for native color control tests (1c218fa)wired the detection in the FOD to the new notiffications (da0e567)workspace: add Minverse map anchors and outer-first boundary check (93b4d7e)workspace: add Minverse map anchors and outer-first boundary check (20ce402)Featuresangle-control: add waypoint navigation for smooth movement (2d80704)autoscale: session workspace boundary damping with serial config block (ff2ce71)cursor-position: add interrupt-pause member variables (478162c)cursor-position: pause control on interrupt detection, retry after 2s (6cb435b)cursor-position: reset interrupt-pause flag on enter and exit (8275f9e)docs: add interactive safety config guide (Hub/Service/FW) (bb8c7bb)docs: workspace auto-scale implementation plan reviewed against Hub/Service/FW code (9c0e40d)gravity compensation with tools even in freeform (122238f)handoff: idle stillness-based hold — park whenever still in idle (dfc4f84)handoff: tune pop-out PID, displacement, and park timeout for idle hold (265f731)imu: add BFLGImuOrientationSensorEnabled and 0xE4 EEPROM addresses (949de27)imu: add model accessors and mutator for robot quaternion/acceleration (025078d)imu: add robot quaternion and acceleration vector read accessors (0c33e01)imu: extend save command to persist 0xE4 IMU orientation data (0236ebe)imu: gate live IMU reads on BFLGImuOrientationSensorEnabled (2ced8d0)imu: implement 0xE4 controller handler with read/set/sensor modes (397e135)imu: implement 0xE4 parser stubs and wire all dispatch tables (b69874e)imu: live kinematics + gravity-comp orientation refresh (a79e845)imu: versioned orientation mode protocol for 0xE4 (562becb)minv: make calibration button pin overridable for early prototypes (3e20333)notif: replace safety_fsm_state with notif_tier, split fold into BB/BA channels (cf67daa)notif: restore Family B safety ids reshaped to Family A (0x15-0x17) (d709b32)notif: split state/safety/data notification emission into 3 channels (69c05eb)perf: auto-retry bench on cold-start device dropout (3b18443)perf: longer bench, p01<1kHz CI gate, cold-start warm-up (a0d36f5)perf: raise p01 gate to 4000 Hz (idle-host capability) (8c614c8)safety-config: implement serial safety config GET/SET/RESET (dd81a9b)setup: add QUATERNION_REFRESH_TYPE (0x0F) - deferred BNO re-read (282407e)setup: serve 0x0C quaternion from the kinematics cache, passively (4c85719)sim: add power feature augmentation to PlantNN inputs (7953aea)sim: prefer debug FW telemetry stream for identification capture (bafeec0)sim: scaffold FW plant simulator + identification pipeline (2059aa6)tools: add constant force safety test script for FOD preload validation (4529402)workspace autoscale session boundary damping (cd74ccd)Performance Improvementsbench: low-jitter RT window to harden p01 vs host CPU load (ac154d4)imu: non-blocking BNO055 sampling via teensy4_i2c (03f249d)increase Minverse motors maximum torque (ed5e4e4)
