libmodal-exposure  (0.1.3 to 0.1.4)
0.1.4
    * add new build and update to new template


libmodal-journal  (0.2.2 to 0.2.5)
0.2.5
    * cross4 migration
0.2.4
    * update to newer voxl-cross template
0.2.3
    * add ability to override the debug level from the filesystem


libmodal-json  (0.4.3 to 0.4.7)
0.4.7
    * migrate to cross4
0.4.6
    * re-add missing libs
0.4.5
    * update to newer version of cmake
0.4.4
    * bump version to fix qrb5165-2 build


libmodal-pipe  (2.10.6 to 2.13.1)
2.13.1
    * move to cross4
2.13.0
    * Added ion buffer types to MPA
2.12.0
    * Added a new vfc_data_t for VFC status data
    * Added autogeneration of pympa interface types
2.11.0
    * Added a Python interface to use MPA


libqrb5165-io  (0.4.9 to 0.5.0)
0.5.0
    * enable build for qrb5165-2


librc-math  (1.4.3 to 1.4.5)
1.4.5
    * cross4 migration
1.4.4
    * new cross template and cmake


libvoxl-cutils  (0.1.1 to 0.1.5)
0.1.5
    * move to cross4
0.1.4
    * fix linter issues
0.1.3
    * fix cmake regression
0.1.2
    * Build for qrb5165 2.x system image
    * deprecate apq8096
0.1.0
    * updated packaging formats and util scripting 
0.0.2
    * add extern "C" to header to support c++ users
0.0.1
    * initial upload of various utils



qrb5165-imu-server  (1.1.2 to 1.1.3)
1.1.3
    * check for clock signal function during 42688 self-test
    * attempt to run IMU without clock signal if it is missing on init


qrb5165-rangefinder-server  (0.1.4 to 0.1.5)
0.1.5
    * add config options for voxl2 mini & m0188
    * better detection of false readings
    * clip output at configurable max distance


qrb5165-system-tweaks  (0.3.4 to 0.3.5)
0.3.5
    * fix legacy voxl-wifi changes


voxl-camera-server  (2.1.1 to 2.2.0)
2.2.0
    * migrate to voxl-cross 4
2.1.2
    * fix rotation color issues with ov9782
    * add snapshot jpeg quality as param
    * add max exposure based on desired fps
    * Move C33, C34 to imx664-fpv sensor type
    * misp multi channel output
    * add gama to config file


voxl-configurator  (0.9.7 to 1.0.1)
1.0.1
    * D0019 support
    * updates for D0013 and MVX
1.0.0
    * add voxl-wavemux
0.9.9
    * require thermal imu cal on all platforms
    * require barometer thermal cal on all platforms
    * expanded steam deck config handling
    * update vrx handling
0.9.8
    * fix elrs pwm config


voxl-cpu-monitor  (0.5.3 to 0.6.0)
0.6.0
    * voxl-cross 4 migration


voxl-elrs  (0.4.1 to 0.4.7)
0.4.7
    * Added configuration for D0019
0.4.6
    * Added firmware version 3.5.3.10
0.4.5
    * Added firmware version 3.5.3.9
    * Added support for PWM override command
0.4.4
    * update D0013 loadout
0.4.3
    * update D0013 loadout
0.4.2
    * Added support for pwm configuration loading/exporting
    * Added support for pwm curves
    * Added firmware 3.5.3.6 support


voxl-esc  (1.5.1 to 1.5.2)
1.5.2
     * D0019 Params


voxl-logger  (0.4.9 to 0.5.3)
0.5.3
    * preroll data post processing added to help startup vio when using new logger service
0.5.2
    * can now save hires snapshots at configurable rates
    * new voxl-logger service to start on boot
    * check for free disk space to prevent filling disk
0.5.1
    * add two more sigfigs to imu temp logs
    * remove deprecated vft_feature type
    * add trackingL and trackingR to vio_benchtest preset
0.5.0
    * add preset for benchtest vio


voxl-mavcam-manager  (0.5.7 to 0.5.8)
0.5.8
    * Fixes to mavcam manager multiple RTSP streams in QGC 4.4.x with backwards compatibility for qgc 4.3.x and 4.2.x


voxl-mavlink-server  (1.4.4 to 1.4.7)
1.4.7
    * support VFC missions with PHOTOS, cleanup
    * support ZeroRF using VFC missions
1.4.6
    * add output pipe imu_mavlink that publishes autopilot imu data in MPA format
1.4.5
    * Added feature to update system time if it is received over Mavlink (e.g. from GCS)


voxl-mavlink  (0.1.1 to 0.1.5)
0.1.5
    * update to new template
0.1.4
    * Updated Mavlink submodule to get updates for ModalAI tunnel payload types
0.1.3
    * Updated Mavlink submodule to get updates for camera protocol
0.1.2
    * bump version to fix qrb5165-2 build


voxl-modem  (1.1.5 to 1.1.6)
1.1.6
    * small naming change


voxl-mpa-tools  (1.3.7 to 1.4.0)
1.4.0
    * migrate to cross4
1.3.8
    * fix CI break due to updated gcc
    * polish voxl-inspect-imu


voxl-open-vins-server  (0.3.0 to 0.3.10)
0.3.10
    * D0008 imu-body rotation extrinsic fix
0.3.9
    * set en_imu_frame_output to true and en_vio_always_on to false as default
0.3.8
    * refine throttling of imu data all modes
0.3.7
    * remove throttling of imu data when under GPU FT mode
0.3.6
    * debug upside down voxl2
0.3.5
    * clean up thermal vio
0.3.4
    * Fix zero features on takeoff motors spinning w/excessive imu noise
0.3.3
    * Support for old 1.4.1 thermal and new 1.4.1 w/quality logic
0.3.2
    * New quality logic
0.3.1
    * Fixes to enable PX4 MPC POS mode to work with VFC. 
    * Bug fix & cleanup to thermal vio jitter-frame from shutter


voxl-opencv  (4.5.5-2 to 4.5.5-3)
4.5.5-3
    * update cmake


voxl-portal  (0.7.5 to 0.7.9)
0.7.9
	* Multiple enhancements to the actuators tab functionality to make it more like QGC
0.7.8
	* Updated the run function for all motors test so it does sends sequentially
0.7.7
    * Added actuator tab for testing each of the motors, matching the ESCs to the correct motors, and reversing the direction of the motors
0.7.6
    * Updates to RC calibration to make it easier to use


voxl-px4-params  (0.6.3 to 0.7.1)
0.7.1
    * put D0013 baro noise back to 3 now that temp cal is improved
0.7.0
    * add voxl-enable-px4-logging script
0.6.9
    * D0019 tuning params
    * zero rf param tweaks
0.6.8
    * D0013 altitude updates
0.6.7
    * D0013 loadout tweak
0.6.6
    * update steam deck joystick params
0.6.5
    * fix typo in steam deck helper param file
0.6.4
    * different barometer noise per platform
    * enable vio and gps together on starling2 and 2 max
    * add joystick helper


voxl-px4  (1.14.0-2.0.94 to 1.14.0-2.0.98)
1.14.0-2.0.98
    * msp_dp_osd: Another string handling fix
1.14.0-2.0.97
    * voxl_esc: Change uart passthru method to not require mavlink in driver
    * voxl2_io: Added uart passthru feature
    * Made general improvements to the QURT platform message logging so that module name is printed both in mini-dm and on apps side terminal
    * Removed VOXL2_IO identifier in all voxl2_io log messages since module name is automatically added now
1.14.0-2.0.96
    * Updated the baro calibration script to write parameters to PX4 by default
1.14.0-2.0.95
    * Moved from modal_io for ESC UART passthru to Mavlink tunnel


voxl-qvio-server  (1.1.1 to 1.2.0)
1.2.0
    * migrate to building in voxl-cross 4.0


voxl-tflite-server  (0.3.9 to 0.4.1)
0.4.1
    * update input_pipe selection menu to read from valid pipe options
0.4.0
    * seperated inference worker to run on seperate threads
    * created a queue to store the last inference and post processed image (default max size 1)


voxl-utils  (1.4.4 to 1.4.7)
1.4.7
    * add security check
    * add SKU to voxl-version
1.4.6
    * cleanup top output to improve voxl-inspect-services tolerance to small window size
1.4.5
    * improve cpu usage accuracy in voxl-inspect-services


voxl-vision-hub  (1.8.17 to 1.8.21)
1.8.21
    * add low pass filter to vfc flow attitude output
1.8.20
    * Prevent restarts on VFC mission when in mission mode
    * VFC mission mode only when both offboard is 'wps' and 'wps_vfc_mission' is true
1.8.19
    * Added a simple voxl-inspect-vfc utility
1.8.18
    * allow WPS mode to use VFC
    * add steam deck specific vfc config

libmodal-pipe  (2.10.4 to 2.10.6)
2.10.6
    * fix build system
2.10.5
    * add function pipe_suggest_cam_pipe_size()


libqrb5165-io  (0.4.7 to 0.4.9)
0.4.9
    * bump version to fix build system
0.4.8
    * update spi test


qrb5165-imu-server  (1.1.0 to 1.1.2)
1.1.2
    * bump version to fix build
1.1.1
    * voxl-calibrate-imu-temp now heats the CPU up faster


qrb5165-system-tweaks  (0.3.2 to 0.3.4)
0.3.4
    * bump version to fix build
0.3.3
    * disable camx logging


voxl-camera-server  (2.0.8 to 2.1.1)
2.1.1
    * add control command to change fps
    * enable misp zoom
2.1.0
    * bump version to fix build
2.0.9
    * add new FPV specific sensor types
    * add C34, C38, C51, C52, updates to other cam configs
    * add dynamic bitrate update to misp encoder


voxl-configurator  (0.9.4 to 0.9.7)
0.9.7
    * disable voxl-feature-tracker, no longer used
    * start sparrow setup
0.9.6
    * bump version to fix build
0.9.5
    * remove cam config file hacking
    * add vrx handling
    * add --json option to voxl-inspect-sku
    * update -X defs


voxl-cpu-monitor  (0.5.1 to 0.5.3)
0.5.3
    * bump version to fix build
0.5.2
    * go back to auto scaler as default. Platforms that require performance will now set it manually


voxl-elrs  (0.3.4 to 0.4.1)
0.4.1
    * bump version to fix build
0.4.0
    * Overhauled wizard interface
    * Added firmware version 3.5.3.5
0.3.7
    * Added firmware version 3.5.3.4
0.3.6
    * Added support for betaflight passthrough for all operations
    * Added firmware for 3.5.3.3
0.3.5
    * Fixed recovery function for betafpv 900RX units
    * Fixed firmware version for betafpv rx
    * Fixed error after firmware upload for esp-based units


voxl-esc  (1.4.8 to 1.5.1)
1.5.1
    * slow down starling max spoolup
1.5.0
    * bump version to fix build
1.4.9
    * make starling max spoolup more robust


voxl-modem  (1.1.3 to 1.1.5)
1.1.5
    * bump version to fix build
1.1.4
    * add -s option to doodle-cli


voxl-mpa-tools  (1.3.4 to 1.3.7)
1.3.7
    * enable 3rd tracking camera for VIO on starling 2
    * disable ground occlusion on downward cameras
1.3.6
    * bump version to fix build
1.3.5
    * fix D0014 Starling 2 downward tracking extrinsics
    * add D0009 extrisnics


voxl-open-vins-server  (0.2.83 to 0.3.0)
0.3.0
    * swap to GPU feature tracker by default
    * remove unnecessary memcopy when overlay is not running
    * return to original pixel noise for GPU tracker
    * fix voxl-inspect-vins errors
    * add voxl-reset-vins tool (not perfect yet)
0.2.85
    * bump version to fix build
0.2.84
    * options to enable gpu tracking


voxl-portal  (0.7.2 to 0.7.5)
0.7.5
    * fix debug and cal over adb port forwarding
    * add camera controls for misp pipes
0.7.4
    * bump version to fix build
0.7.3
    * fix mavlink reconnection on page load breaking other pipes
    * add baro cal
    * add flight modes page


voxl-px4-params  (0.5.8 to 0.6.3)
0.6.3
    * update stinger flight modes
0.6.2
    * starling 2 max smooth takeoff ramp
0.6.1
    * bump version to fix build
0.6.0
    * update D0013 flight modes
0.5.9
    * Added new calibration file parameters_baro_tc.cal


voxl-px4  (1.14.0-2.0.85 to 1.14.0-2.0.94)
1.14.0-2.0.94
    * FCv2: brought in ESC driver startup timing change from voxl-fpv-dev found in D0007 production setup
1.14.0-2.0.93
    * Simplified the barometer calibration process
1.14.0-2.0.92
    * Added fixes for temperature compensation module to make sure updates go out in a timely fashion
    * Moved start of temperature compensation module earlier in script to help prevent any uncorrected altitude data from going to EKF
    * Made sure temperature compensation is done for tighter range on all sensors
1.14.0-2.0.91
    * Brought in icp201xx barometer fix from mainline
    * Changed temperature compensation module to update on 0.1 degree changes
1.14.0-2.0.90
    * Added scripts and instructions for barometer temperature calibration
1.14.0-2.0.89
    * Fixed an issue with string handling in msp_dp_osd driver
1.14.0-2.0.88
    * Added ist8308 magnetometer start line into voxl-px4-start script
1.14.0-2.0.87
    * Added capability to run the msp_dp_osd driver on DSP
1.14.0-2.0.86
    * Add bmp280, bmp388, and ms5611 barometers to the build
    * Add temperature compensation module to the build


voxl-tflite-server  (0.3.7 to 0.3.9)
0.3.9
    * bump version to fix build
0.3.8
    * fix bug setting model path

libmodal-exposure  (0.1.1 to 0.1.3)
0.1.3
    * new msv function allowing setting stride != width


libmodal-pipe  (2.10.2 to 2.10.4)
2.10.4
    * add definitions for vio frames of reference
2.10.3
    * add set of functions for controlling CPU affinity


libqrb5165-io  (0.4.6 to 0.4.7)
0.4.7
    * for icm42688 imu FIFO reads, read in the extra imu samples that were taken while reading the majority of the fifo buffer
    * fix SPI speed not being set


librc-math  (1.4.2 to 1.4.3)
1.4.3
    * fix rc_quaternion_slerp sometimes interpolating the long way around
    * add rc_test_quaternion_slerp function


qrb5165-imu-server  (1.0.1 to 1.1.0)
1.1.0
    * allow asynchronous imu fifo reading via control pipe
    * turn off 42688 UI filter by default


qrb5165-rangefinder-server  (0.1.3 to 0.1.4)
0.1.4
    * -t small fix


qrb5165-system-tweaks  (0.3.0 to 0.3.2)
0.3.2
    * add M0204 support
0.3.1
    * fix voxl-wifi factory mode on voxl2-mini
    * swap to using voxl serial number as factory softap ssid instead of mac


voxl-camera-calibration  (0.5.7 to 0.5.9)
0.5.9
    * strip off tags from input_pipe before saving file
0.5.8
    * add handling for 16-bit mono images
    * support higher resolution thermal cameras


voxl-camera-server  (2.0.1 to 2.0.8)
2.0.8
    * add C33 config
2.0.7
    * Add MSP parser and OSD for MISP streams
2.0.6
    * add C50 config
2.0.5
    * enable MISP for OV9782
2.0.4
    * send command to imu-server to read IMU FIFO after fsync-driven camera frames
2.0.3
    * fix typo in raw format type for imx412 misp pipeline
    * undo 12-bit testing code
    * allow running on cores 2&3 if A65 TOF is present
2.0.2
    * move cam config 22 for D0013 to new platform_config_2 for m0188
    * lock to 4 bigger cores to improve stability and latency


voxl-configurator  (0.8.5 to 0.9.4)
0.9.4
    * health check updates
0.9.3
    * add framework for MVX-T0001 and MVX-R0001
0.9.2
    * fix configurator step for starling lepton option
0.9.1
    * update lepton config for D0013
    * update required cal files
0.9.0
    * update D0013 required cal files
0.8.9
    * experimental modes cleanup
    * D0013 support
0.8.8
    * add M0184 option
0.8.7
    * voxl-vtx updates
    * inital D0008-V5 updates
    * add checking for imu temp cal
    * configure sku wizard now handles default cam config for families and version
0.8.6
    * E16 for starling


voxl-cpu-monitor  (0.4.8 to 0.5.1)
0.5.1
    * add printing cpu load for big cores and small cores to voxl-inspect-cpu
0.5.0
    * cpu temp is now averaged (smoother)
    * performance mode by default
    * new config options for cpu scalers


voxl-elrs  (0.2.2 to 0.3.4)
0.3.4
    * Added ELRS v3.5.3 firmware for M0184/M0193
0.3.3
    * remove voxl-px4 enable/disable logic
    * scan now only updates if fw is out of date
0.3.2
    * fixed hanging in certtain cases
0.3.1
    * Added support for ModalAI M0193 Receiver targets
0.3.0
    * Rewrote voxl-elrs
    * Added support for setting receiver binding phrase through voxl-elrs
    * Added support for many more targets (All ESP32/ESP8266/ESP8285 based RX)
    * Added more configuration options
    * Added systemd service to auto update and configure receivers on startup
    * TODO: Append pinout file when uploading unified targets
    * TODO: Fix recovery function


voxl-esc  (1.4.7 to 1.4.8)
1.4.8
    * D0013: silence bootup and tuning


voxl-feature-tracker  (0.4.1 to 0.5.2)
0.5.2
    * decrease output pipe size
0.5.1
    * changes for better distribution of selected features
0.5.0
    * migrate to vio_cams.conf common config file


voxl-lepton-server  (1.2.3 to 1.3.3)
1.3.3
    * add m0173_manual option
1.3.2
    * add config option for M0188
1.3.1
    * add support for M0188 (single instance off J10 only which is channel 0 of mux)
1.3.0
    * add support for hard-resets with M0187
1.2.4
    * add assign_cpu_num param and default to cpu 7
    * add en_timing_msg param
    * add m0173_rotated_manual configure option


voxl-logger  (0.4.7 to 0.4.9)
0.4.9
    * logged RAW8 images are uncompressed
0.4.8
    * added batch publish for imu replay


voxl-mavlink-server  (1.4.2 to 1.4.4)
1.4.4
    * default audio zerorf mode to be off (silent)
1.4.3
    * support esc chimes and prop spin notifications for zerorf mode


voxl-mpa-tools  (1.2.3 to 1.3.4)
1.3.4
    * add voxl-clear-logs command
1.3.3
    * set tracking_left_right to use normalized image
1.3.2
    * add lepton to D0013 extrinsics and hires to D0012/D0014
    * update voxl-inspect-extrinsics
1.3.1
    * add function vcc_find_extrinsic()
    * add lepton extrinsics to D0013
    * add hires extrinsics to D0012 D0014
    * voxl-inspect-extrinsics can now print individual relations
1.3.0
    * new vio-cam config utilities and functions in voxl_common_config
1.2.4
    * removed esc pwm and tone tools, they moved to voxl-io-server


voxl-open-vins-server  (0.2.75 to 0.2.83)
0.2.83
    * fix memleak with ov_overlay
0.2.82
    * use tracking pipe name for main pipe
0.2.81
    * orientation changes
0.2.80
    * fix flight twitch
0.2.79
    * refactoring callbacks to make more modular
0.2.78
    * re-add inverted voxl2 imu support, remove FLU reference
0.2.77
    * fix voxl orientation when X axis is gravity, nullpoint
    * unwrap tranformation from ovin global frmae to imu frame for vvhub
    * fix quanternion issue




voxl-portal  (0.7.0 to 0.7.2)
0.7.2
    * add accel, gyro, mag, level horizon cal
0.7.1
    * flush camera pipes completely when backed up instead of just dropping one frame at a time


voxl-px4-params  (0.5.3 to 0.5.8)
0.5.8
    * D0008: update default flight modes
0.5.7
    * update pre-arm checks on D0013
0.5.6
    * enable turtle mode on D0013
0.5.5
    * stinger updates
0.5.4
    * update OSD params
    * D0008: flight mode tweaks


voxl-px4  (1.14.0-2.0.84 to 1.14.0-2.0.85)
1.14.0-2.0.85
    * Increase heartbeat rate so VFC can get faster mode updates


voxl-qvio-server  (1.0.4 to 1.1.1)
1.1.1
    * add ability to request more imu data from imu-server if camera exposure is shorter than the rise time of the IMU AAF
    * set defualt cam-imu timeshift back to 0 after retuning IMU pipeline
1.1.0
     * migrate config to use the common vio_cams.conf file instead
1.0.5
    * move tracking_front and tracking_down streams to the _misp_norm normalized pipes
    * allow running on all 4 gold cores on qrb5165


voxl-streamer  (0.7.4 to 0.7.5)
0.7.5
    * add option to use h265 encoder
    * switch h264 encoder to use main profile and enable CABAC coding


voxl-tflite-server  (0.3.4 to 0.3.7)
0.3.7
    * small bug fixes
0.3.6
    * bounding box fixes
0.3.5
    * Fix config file default camera pipe name (hires_small_color)
    * yolov8 support


voxl-utils  (1.4.3 to 1.4.4)
1.4.4
    * add M0204 support


voxl-vision-hub  (1.8.9 to 1.8.17)
1.8.17
    * add acceleration limit in VFC Position controlled by vfc_xy_acc_limit_vio parameter
    * add feedforward factor in VFC Position controlled by vel_ff_factor_vio parameter
    * add low pass filter in VFC Position controlled by vfc_w_filt_xy_vio parameter
1.8.16
    * enable px4 horizon cal in offboard mode
    * add hybrid flow mode
    * use pose_covariance field to indicate state validity
1.8.15
    * change backtrack rc chan for vfc
1.8.14
    * debug print fix
1.8.13
    * increase vfc position gains
    * add helper to enable vfc position, flow, and backtrack
1.8.12
    * Changes to support VFC Position and Backtrack on Starling 2
1.8.11
    * Added better height control transitions based on commanded thrust in altitude modes
    * Added attitude command smoothing during submode transitions using vfc_att_transition_time parameter
1.8.10
    * Added a backtrack restore function to keep unused backtrack points