SDK 1.7.X Release Notes

libmodal-flow (v1.0.5 to v1.0.6)
    * Add ZNCC epipolar-band stereo matcher (match_stereo / StereoMatcherCL)

libvoxl-codec (v0.1.1 to v0.1.3)
    * [OMX] Add support for ROI control mode
    * [OMX] Fix FPS Hack workaround and fix CBR mode
    * [ROI] Handle runtime fps and # of p frame changes to maintain bitrate

modalai-slpi (v1.2.3 to v1.2.4)
    * Added i2c bus uninitialization to slpi_link

voxl-camera-server (v2.2.29 to v2.2.32)
    * version bump to ensure libvoxl-codec changes are pulled in
    * remove libmodal_exposure dependency from dpkg control file
    * version bump for libvoxl-codec ROI feature set framerate changes

voxl-configurator (v1.1.35 to v1.1.39)
    * add V6 handling for D0008
    * enable mavlink-server elrs rc mux on D0008 and D0020
    * add handling for D0008-V6-XS
    * disable mavcam-manager on platforms with M26 family modems

voxl-esc (v1.6.3 to v1.6.4)
    * update to 39.26 fw

voxl-fpv-px4 (v1.14.0-8.145.4 to v1.14.0-8.148.0)
    * Fix Hexagon compiler NaN comparison issues in math library
    * Changed VOXL ESC GPIO control from AUX channels to RC channels set by new parameters
    * Changed parameter GPS_SAT_INFO default to 1
    * Update mag driver for publishing consistency across axis and publish rate
    * Update ESC publishing for more frequent battery current data
    * Improved mag current compensation performance
    * Increase gravity innovation in ekf2 to prevent gravity-aid lockout during aggressive maneuvers

voxl-imu-server (v2.0.2 to v2.0.3)
    * <no public CHANGELOG entries between these versions>

voxl-io-server (v0.1.3 to v0.1.4)
    * <no public CHANGELOG entries between these versions>

voxl-logger (v0.6.3 to v0.6.4)
    * add logging support with -O for offboard_log, logs the mpa offboard data from VFC. Also logs the px4_baro pipe in addition

voxl-mavcam-manager (v0.6.1 to v0.6.2)
    * fix debug flag being set incorrectly

voxl-mavlink-server (v1.4.16 to v1.4.18)
    * add rc_active pipe muxing rc_channels and manual_control
    * pipe_io: add libelrs failsafe awareness to rc_active mux
    * fix qcs6490 build by adding voxl-elrs as a dependency
    * simplify RC active mux selection logic
    * Controlled FTP/Download helpers for ATAK

voxl-mpa-tools (v1.5.8 to v1.5.9)
    * add conf files for D0008-V6
    * voxl-logger: update to allow raw images to be recorded as jpegs
    * add voxl-record-raw-image

voxl-nano-tracker (v0.1.7 to v0.1.8)
    * fix include file location
    * cleanup compiler and cmake warnings

voxl-open-vins-server (v0.6.2 to v0.7.0)
    * async unsynced multi-camera support: lock-free per-camera ingest rings, epoch-anchored cloning, ACI2 preintegration bridge, deferred epoch marginalization (async meets synced; synced path bit-identical)
    * per-camera cam-IMU time offset and rolling-shutter readout states with online calibration and degenerate-motion gating
    * per-camera acquisition declarations (camN_shutter / camN_readout_time_s / camN_fps) with boot validation and config-drift guards
    * ceres-free dynamic initialization (ov_init::zbft_sfm): lock-free LM solver, S2 gravity, ~17-20 ms init (legacy ceres path was ~65 ms); drop voxl-ceres-solver runtime dep
    * any-attitude init/reset: server gravity gate, heading re-origin, warm-start clone injection
    * divergence-aware soft reset (RESET_VIO_SOFT) with live bias priors; episode purge of used-features map and zupt flags
    * async-aware quality metric: windowed feature union + time-constant EMA (replaces exact-timestamp scoring that starved async rigs)
    * auto-reset hardening: estimator-health error mask (transport warnings no longer hard-reset), warning decay, re-init grace arming, reset-race guards, hard-reset null-deref fix
    * new fpvhires config (IMX664 rolling-shutter + AR0144 tracking, unsynced); fpv restored to synced duo AR0144; fpvhires and d8v6 wired into voxl-configure-open-vins
    * estimator verbosity driven by the YAML key (-v only raises to ALL; warnings can no longer be swallowed)
    * stale-code purge: CameraQueueFusion removed, dead config knobs/globals/branches removed (~1.3k lines); duplicate includes fixed
    * docs: ov_msckf/README_ASYNC.md design doc (epoch cloning, ACI2 bridge, RS model, resets, YAML reference); authorship/copyright pass across both repos

voxl-osd (v0.4.12 to v0.4.13)
    * <no public CHANGELOG entries between these versions>

voxl-portal (v0.9.4 to v0.9.6)
    * rendezvous and capture: Add follower/APN inspect
    * add follow_simple page for tracker-agnostic bbox subscribers
    * vio page overhaul with improved live view and vins-lab

voxl-px4 (v1.14.0-2.0.142 to v1.14.0-2.0.146)
    * Fix Hexagon compiler NaN comparison issues in math library
    * Remove attempt to find DPS baro on bus 1 from DSP
    * Added another fence points QGC upload fix
    * Fix fence points QGC upload

voxl-px4-params (v0.9.15 to v0.9.20)
    * set COM_RC_IN_MODE to 2 (RC and Joystick) on D0008
    * add param file for disabling turtle mode
    * add initial px4 1.18 params
    * add the Mag ID for D0008 V6, prevents mag params set during flash from being wiped during calibration
    * update D0008 param set to support gps position mode
    * update alt mode baro params
    * update D0008-V6-XS flight modes
    * cleanup D0008 V6 params and do some tuning
    * remove never-used D0008 V5 params, params stayed the same from V4 to V5
    * fix motor spin direction on D0008 V6
    * update old temp cal file to new format during platform param load (during sdk update)
    * slow down D0008 V6 GPS POS mode velocities
    * update D0008 V6 3x2 battery mag compensation

voxl-rc-server (v0.0.5 to v0.0.7)
    * add dtc config
    * Added stock radiomaster zorro loadout
    * skip UDP socket recreation when D2S IP is unchanged
    * fix arm/terminate rejected by PX4 due to broadcast target_system
    * Add unbind feature mirroring the existing bind chain
    * subscribe to voxl-vtx d2s_ip_conn pipe and update UDP destination

voxl-remote-id (v0.0.9 to v0.1.0)
    * Updated to reflect a manufacturer serial number length of 10 instead of 12
    * Updated for new voxl-cross docker and linter

voxl-utils (v2.0.5 to v2.0.6)
    * update DTC default IP loadout

voxl-vision-hub (v1.9.21 to v1.10.0)
    * ATR experiments from v1.9.22 - v1.9.23 reverted; functionally equivalent to v1.9.21

voxl-vtx (v2.2.39 to v2.2.42)
    * fix rc toggle issue for d0008-v4
    * Fix race condition for checking kernel modules in enable vtx script
    * Add fast calibration option
    * Update default calibration file