Device Firmware

Official firmware for Haply devices, providing the latest features, performance improvements, and stability updates. Designed for developers and advanced users to keep their devices running at their best.

v7.6.0

Released May 28, 2026 at 12:00 AM

Release Notes

🔖 Release 7.6.0

7.6.0 (2026-05-27)

Bug Fixes

add soft falling-edge detection to prevent arm jump on quick unplug/replug (a2f7c36)

changed the read_system_power_sensor function to match the Hw implementation (dae3505)

ci: install g++ for PlatformIO native tests (b30c1ea)

ci: pin Python 3.12, UTF-8-safe configure, spell and coverage exit (dc73195)

ci: restore unified release job for stable and beta (a29ad61)

ci: split release into release_stable (auto) and release_beta (manual) (4e197d9)

controller: add IDLE_CURSOR_HOLD_ENABLED to disable idle joint PID hold (e3f3164)

controller: apply comm timeout idle fallback to cursor position ctrl state (462f2c4)

controller: keep control mode while servicing STATUS_DATA queries (dff4f51)

ebrake: joint HP latch, pop-out anchor after capture, FOD zone dwell (faf2603)

foaw: precompute + incremental sums + early-termination residual (fcf445f)

fod,idle,cursor: virtual workspace travel damping, joint proximity wall, idle torque path (5efe7c1)

fod: add preload impact hold threshold (dd6962c)

fod: app-stiff hazard detection and high-stiffness safety integration (d2cef3c)

fod: clear post-release UX and motor tone on host stream loss (0654afc)

fod: clear sliding force profile on host timeout (1a29dff)

fod: drop joint virtual wall damping and decouple JS telemetry (3430aa1)

fod: joint spring assist gate and telemetry (a193562)

fod: latch joint spring assist off after HARD/PANIC in limit zone (c3b30fb)

fod: lower HELD_VMAG_STATIC to keep slow drag in held state (1d35bd7)

fod: post-release profile reset, preload tuning, impulse gate (0bdc566)

fod: preload post-release clear, profile ring, and dwell gates (b9115ff)

fod: reduce below-latch and preload low-raw dwell to 2.5s (34b48b7)

fod: skip RELEASED_STATIC force clamp during slow user contact (1256759)

fod: soften Minverse virtual workspace damping and idle decay (2f7dc51)

fod: suppress preload safety on app force session startup contact (6319f12)

fod: tighten preload rearm and clear profile on low force (24e2ed1)

fod: tune FOD_V_HARD and FOD error notification tone (bb839b4)

fod: V8 safety telemetry, dashboard, and preload veto tuning (9ea6592)

fod: veto preload [secure] alarms with rolling slow-position buffer (1a7aa15)

harder hold position for holdeBrake - led stay solid orange on hold position (c157c81)

idle-hold: gate idle return-home on hold, reset inactivity counter on hold edges (75c2700)

idle: restore beta step-based return-to-home, remove 10s timers (36effb5)

inkwell: disable safety for 1s after home calibration (abb971a)

new protocol and logic (ccabc88)

notifications: pad 0xBA/0xBB wire frames to fixed 5-byte size (997bd85)

oscillation high speed near to spring (13bf721)

perf: robust device handoff between flash+bench iterations (491a9ec)

power: prevent jitter on quick unplug/replug (79e9f29)

prevent FOD when the device is folded (faba81e)

remove part minverse related in the reading inkwell sensors (140a6c7)

remove the test for the power supply (a092dcc)

safety-ux: idle cursor hold for Inverse3/X2, Minverse virtual workspace damping off, telemetry V10 and dashboard (90f7b95)

safety: 15s force-aware post-release ramp + active damping during recovery (077b318)

safety: 3s post-release f_allow ramp + expose to telemetry + dashboard (55ae284)

safety: add GAFE scaffold (gated) + drop grip-scaled HELD_SLIP damping (31e9b74)

safety: add grip detector with tremor + active probe detection (57af2ba)

safety: add motor current disturbance observer to grip detector (e3444ee)

safety: arm post-release ramp after released-state jerk spikes (d424d17)

safety: cap post-release force-match PANIC re-triggers (9c6a50e)

safety: detect re-grip from sustained motion and grip evidence (3b082ed)

safety: disable oscillation detector for ORB [secure] positives (b6aa6d6)

safety: disable oscillation escalation and add RMS stability-assist detector (336f090)

safety: extend safety error cue and dashboard telemetry (7a01706)

safety: fixed PANIC hold with user-motion release + 15s post-release ramp (49912bd)

safety: FOD force profile, stability assist, HS and velocity gates (0b0130a)

safety: FOD post-release ramp, telemetry, and dashboard updates (43da714)

safety: FOD post-release UX, error LEDs, and Minverse haptic cue (852dca3)

safety: force-profile post-release logic and joint-spring risk gating (3536c2c)

safety: gate oscillation GUARD on separate dwell time (6132a49)

safety: harden MINV oscillation gating under high stiffness (d68f28a)

safety: HELD_SLIP gel-rebound veto + grip-scaled damping with boost (01a8b3b)

safety: lower e-brake hold Kp and preload base force floor (2ea9aff)

safety: merge legacy stability-assist into FOD as HAZARD_STABILITY (945d134)

safety: MINV HARD e-brake release gate and FOD tidy-up (b24772a)

safety: post-release force profile, latch telemetry, e-brake still release (793ecf2)

safety: post-release ramp thresholds and resilient configure (984c11e)

safety: post-release ramp, velocity HARD gating, and telemetry (d09e1c7)

safety: proportional f_allow in RELEASED_STATIC to cut re-grip latency (923ce88)

safety: re-enable FOD normal popup and add held-entry cue (6e67ea4)

safety: re-enable oscillation detector in FOD header (a2d5a98)

safety: re-grip from RELEASED_STATIC using raw host force and motion (2b52f16)

safety: reduce idle [secure] safety triggers on MINV (ba7f249)

safety: refine force output decay, telemetry, and safety dashboard tools (8e5249e)

safety: remove current disturbance detector from grip system (5f4f270)

safety: remove FOD gate G (motor noise), strip GAFE, optimize FOAW (a2aa1b3)

safety: rising-edge motion detection + force-aware interaction tracking for HELD stability (e56cbae)

safety: tune Inverse3X FOD thresholds and held/regrip telemetry (d88c15d)

safety: use FOAW velocity for tremor detection, tune sensitivity (23d7222)

safety: X2/Inverse3 HARD brake — damping-only with joint-limit Kd cut (14481b5)

safety: zero FSM fmag during HARD/PANIC to release HELD_STATIC in safety hold (5dc9ad4)

spring assist bump (inv3) & spring assist vibration (inv3x) (e5b1a58)

telemetry: expose joint spring home exclusion ramp on dashboard (594da0a)

threshold for X2 because the Hw is different (e9e6728)

threshold for X2 because the Hw is different (45c4dca)

tools: add brake sweep and position test scripts with safety/FOD tooling improvements (fb01cf7)

tools: add force vectors and live power/vel charts to workspace viewer (7a474e0)

tools: add workspace boundary capture, SLAM map, and live viewer scripts (c83e30c)

tools: apply Inverse3 device dimensions to workspace inner boundary (05220e8)

tools: integrate FOD decision tree live viewer with stable WS (17bcc55)

tools: NaN-safe JSON serialization in safety dashboard (efc29a0)

tools: orient device inner box with depth along Y axis (a7273ac)

Features

perf: TAPI latency benchmark + regression suite (8cd3432)

protocol: add FSM state change push notification (496a305)

Performance Improvements

compute FK, Jacobian, and EE velocity once per frame via FrameState (d9a87cf)

compute FK, Jacobian, and EE velocity once per frame via FrameState (895d967)

All Downloads

All available downloads for this release:

Device Firmware 7.6.0 InverseX

Artifacts: inverse-firmware_InverseX.zip

Download

Device Firmware 7.6.0 Inverse3

Artifacts: inverse-firmware_Inverse3.zip

Download

Device Firmware 7.6.0 Minverse

Artifacts: inverse-firmware_Minverse.zip

Download

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