2020 Mid-Competition Season Release

This release addresses an issue with the SPI writeRegister() function in c++ and Java languages. This small bug caused registers to not be set properly and may have led to inconsistencies in IMU operation. This fix also improves driver stability and adjusts the IMU data rate to optimize for CPU utilization.

Note: LabVIEW users were not affected by either of these bugs and should use 2020.r2

2020 Competition Season Release

This release includes improved error handling and buffer overflow mitigation. The driver should be more tolerant of the IMU becoming disconnected or the processing loop not being serviced quickly.

2020 Build Season Release

This release fixes a race condition caused by a missing null pointer declaration in the C++ version of the driver. It also includes IMU configuration changes and corrects an issue where the incorrect data ready logic transition was being used to trigger the data capture. All languages should update to this version.

2020 Kickoff Release

This is the kickoff release of the ADIS16470 IMU driver for the 2020 season.

The IMU driver has been vastly improved over previous versions. Offset calibration is now performed inside the IMU using the sensor's built-in features. Because of this, it is now possible to change the calibration time and execute an offset adjustment on-the-fly.

LabVIEW libraries are now distributed using the NI Package Manager.
C++ / Java libraries are distributed online using a maven repository listed in the README.md and offline using the attached package.

2019 Build Season Release 2

LabVIEW Changes:

Fixed an issue where invalid data was being integrated upon start-up. Thanks to Ryan from FRC Team 2468 for identifying the bug and offering a fix!

2019 Build Season Release 1

Kickoff release for the 2019 season. This release includes 2019.b4 tweaks and uses the 2019 WPILib resources allocated after b3 was released.

An issue with the kickoff RoboRIO image was identified where the IMU will not return values when using the "FRC_roboRIO_2019_v12" image. The issue was traced back to an archive packaging issue with the RoboRIO image and has been resolved in later releases.

This LabVIEW driver release requires LabVIEW 2018 + FRCUpdateSuite_2019.1.0 or greater. Tested with RoboRIO image "FRC_roboRIO_2019_v13" and "roboRIO_6.0.0" firmware.

2019 Pre-Build Season Release 1

First pre-build season release in preparation for the 2019 season. This library builds on the ADIS16448 library and has been optimized for the ADIS16470. This release includes cleaned up initialization and main loop VIs in addition to implementing a new timestamp feature made available by NI for the 2019 season. This allows delta-time calculations to be performed with greater accuracy, thus significantly decreasing drift due to calculation errors. Acquisition performance has also improved, allowing the IMU to operate a higher speed with little CPU overhead (default is 200 SPS). Support was also added for "sensor ready" LEDs available on all ADIS16470 IMU boards. Improved error handling in LabVIEW will now notify the user if the sensor is not present or if communication failed.

Files needed to integrate the library with LabVIEW are included in the installer.

This release requires LabVIEW 2018 + NI Beta 3 Update 12_7_18 or greater. There is a known issue in Beta 2 that broke DMA SPI. Tested with RoboRIO image "FRC_roboRIO_2019_v9" and "roboRIO_6.0.0" firmware.