GRT Mini AHRS software change history

• Mini AHRS 71 (2020-06-10)
  • Fix incorrect change for magnetometer Z axis from version 69

• Mini AHRS 70 (2019-10-29)
  • Fix output of serial number in magnetometers

• Mini AHRS 69 (2019-10-16)
  • Apply an incorrect change to magnetometer Z axis. Replaced by version 71.

• Mini AHRS 68 (2019-09-17)
  • Fix bad headings from new magnetometer hardware that started shipping in July 2019. All systems with this new magnetometer hardware should update the AHRS and perform Magnetometer Calibration.

• Mini AHRS 66 (2018-05-15)
  • Add support for hardware configurations without an internal magnetometer.
  • Fix a case where the AHRS would not properly handle the loss of external magnetometer input and then would use bad heading data.

• Mini AHRS 64 (2017-07-06)
  • Add another type of yaw data for improved lateral autopilot performance (requires display unit software update)

• Mini AHRS 61 (2016-01-04)
  • Fix jumpy attitude and slip indications caused by vibration in newer hardware

• Mini AHRS 58 (2015-05-13)
  • Functionally equivalent to version 57 -- no update necessary if already using version 57

• Mini AHRS 57 (2015-04-29)
  • Fix altimeter bias calibration near sea level -- previously calibrated units may require adjustment

• Mini AHRS 56 (2015-04-15)
  • Improve alignment time

• Mini AHRS 54 (2015-02-11)
  • Correctly update first magnetometer orientation without rebooting
  • Add support for synchronizing magnetometer calibration data
  • Improve in-flight alignment time
  • Fix limit on gyro rates and start realignment if exceeded
  • Fix possible misalignment with magnetic interference

• Mini AHRS 51 (2014-08-28)
  • Fix filters for altitude and airspeed data (fix jittery air data)
  • Fix transfer of negative airspeed from Air Data module
  • Fix altitude correction when uncorrected altitude is below zero
  • Improve temperature correction below 12°F

• Mini AHRS 50 (2014-07-21)
  • Fix check for valid fine magnetometer calibration data
  • Fix use of gyro temperature calibration data below 0°F
  • Fix use of airspeed adjustment below zero
  • Fix use of altimeter scale factor less than 1.0000

• Mini AHRS 48 (2014-05-13)
  • Fixes instrument orientation and external magnetometer functions