WISPR Ground Control and WISPR Flight Firmware Release Changelog

v1.4.1

• Improved on default and disabled settings when the UgCS Methane Detector and “Enable rangefinder” setting are selected.

• Fixed bug causing terrain data to not download. Terrain data is now downloaded from a new provider.

03/19/2024

v1.4.0

• Prevent rangefinder being used in modes other than Auto when EchoSounder payload is selected.

• No bugfixes.

03/01/2024

v1.4.0

• Added Ainsten US-D1 radar altimeter for UGcS EchoSounder payload.

• Updated LiDAR rangefinder for new LightWare LW20/C rangefinder.

• Fixed bug with rangefinder parameters automatically be enabled when UGcS Methane Detector payload is selected, even when “Enable Rangefinder” setting is unchecked.

• Fixed bug allowing user to disable rangefinder when UGcS EchoSounder payload is selected.

• Fixed bug causing gimbal to occasionally reset in the middle of a mission.

03/01/2024

v1.4.0

• Prevent rangefinder being used in modes other than Auto when EchoSounder payload is selected.

• No bugfixes.

03/01/2024

v1.3.1

• No new features.

• Fixed bug causing Gremsy Vio payload to not record pictures and videos in thermal.

• Fixed bug causing certain payloads to show the stop recording button even when a video is not being recorded.

01/31/2024

v1.3.0

• No new features.

• Fixed bug causing capture commands to continue to be sent when mission is paused by swapping to LOITER mode.

01/23/2024

v1.3.0

• Added GeoCue TrueView LiDAR payload.

• Added “RTL Speed” setting to WISPR Settings page.

• Added “Enable Rangefinder” setting to WISPR Settings page.

• Fixed bug causing capture commands to continue to be sent when mission is paused by swapping to LOITER mode.

• Fixed bug causing zoom to not work on Gremsy Vio when camera using the EO camera stream.

01/23/2024

v1.3.0

• No new features.

• Fixed bug causing capture commands to continue to be sent when mission is paused by swapping to LOITER mode.

01/23/2024

v1.2.0

• Updated rangefinder location for bathymetry payloads.

• Decreased yaw acceleration in LOITER and LAND modes for smoother yawing.

• Added Vio payload.

• No bug fixes

12/04/2023

v1.1.0

• No new features.

• Fixed bug causing ESC temperatures to read maximum values in freezing weather.

• Fixed bug causing LiDAR Calibration and Panoramic Guided Action Buttons to be missing. This bug also caused the “Land” button to not display when the drone is in-air.

11/03/2023

v1.1.0

• Added support for Gremsy ZIO inspection payload.

• Added ability to send drone’s position to CORS network to receive RTCM corrections from network.

• Moved NTRIP settings to a tab separate from General / WISPR settings. This allows for quicker access to NTRIP settings and status.

• Added connection status to NTRIP page.

• Added Figure 8 mission item to mission planning. This allows for a Figure 8 to be added as a part of a mission, rather than having it be performed separately from the mission. The Figure 8 mission item allows for a smoother transition between the Figure 8 and the rest of the mission. The drone will always fly from the end of the Figure 8 to the first waypoint in the mission at 10m/s.

• Added setting to add LiDAR recalibration waypoints to a Corridor Scan every 600m that the drone will go without turning. This setting can be enabled in the WISPR section of General Settings page.

• Added mission planning setting to perform loop turnarounds to reexcite LiDAR IMUs during turns in Corridor Scan and Surveys. This setting can be selected within the Polygon settings after selecting "Done with Polygon" when planning the Corridor Scan or Survey.

• Added setting to swap video streams. This setting can be found in the WISPR section of the General Settings page.

• Fixed bug found when running multiple vertical scans in the same flight that caused each vertical scan after the first to be ran at the azimuth at which the first vertical scan was run.

• Fixed bug causing certain rangefinders to not work properly.

11/03/2023

v1.1.0

• No new features.

• Fixed bug causing ESC temperatures to read maximum values in freezing weather.

• Fixed bug causing LiDAR Calibration and Panoramic Guided Action Buttons to be missing. This bug also caused the “Land” button to not display when the drone is in-air.

11/03/2023

v1.0.0

• Added Remote ID settings. These settings must be filled out to fly on this version.

• Set drone to LOITER mode after Guided takeoff reaches the target altitude.

• Added setting to automatically continue mission from last waypoint if the drone lands before a mission completes.

• Added setting to automatically remove a mission once it completes.

• Added setting to automatically select terrain follow for Survey and Corridor Scan mission types.

• Combined Wiris payloads into one payload, Wiris Camera. When selected, Wiris Thermal Map settings are used for mission planning. Added menu controls for Wiris.

• Added IR and LED flashlight controls for Wiris. Added setting to hide flashlight controls.

• Added Velodyne VLP32 payload option.

• Added UgCS GPR payload option.

• Added UgCS QuSpin Magnetometer payload option.

• Added UgCS Methane Detector payload option.

• Added MAPIR Survey3 payload option.

• Simplified application settings and pages.

• During flight, disallow changing WISPR Settings that require a reboot after being changed to prevent unwanted flight characteristics.

• Fixed bug causing mission data to always be maintained when planning Structure Scans, even when “Maintain previous mission data” setting was disabled.

09/11/2023

v1.0.0

• Added Remote ID compatibility. All FAA Remote ID regulations are enforced.

• Added safety feature that requires IMUs to reach 45 degrees C prior to takeoff.

• Improved overall flight characteristics for smoother flight and better battery life.

• Added support for file-select firmware installer. This can be used for all updates after V1.0.0.

• Reduced acceleration during takeoff for improved safety.

• Fixed bug causing RTL to trigger too late which would cause battery degradation.

09/11/2023

v0.9.0

• Added Structure Scan mission.

• Removed color changes in battery percent so that the battery percent is easier to see when low.

• Changed Sony a7R IV to Sony a7r Series.

• Reduced RTL speed and Z-axis acceleration of drone when EchoSounder bathymetry payload is selected.

• Temporarily removed “Enable terrain follow during RTL and Land” until this feature can be fixed.

• Fixed bug causing EchoSounder setting warning messages to display everytime WISPR Ground Control is opened.

06/29/23

v0.8.0

• Adding additional logging for debugging.

• Added EchoSounder payload. If the EchoSounder is selected as the payload within WGC settings, the low battery RTL failsafe will target a 30% landing instead of 20%.

No bug fixes.

04/14/23

v0.8.2

• Added support for FLIR Vue Pro.

• Added Mission Speed setting selection box in the MIssion Start area during mission planning.

• Fixed bug causing RTL speed to be set incorrectly when LiDAR payload is selected.

• Fixed issue with delayed camera controls.

• Fixed bug causing EchoSounder warning messages to display multiple times.

• Fixed bug causing RTL Altitude and Default Mission Item Altitude settings to be reset on opening WISPR Ground Control.

06/02/23

v0.8.0

• Adding additional logging for debugging.

• Added EchoSounder payload. If the EchoSounder is selected as the payload within WGC settings, the low battery RTL failsafe will target a 30% landing instead of 20%.

No bug fixes.

04/14/23

v0.8.1

• Reduced number of Figure 8’s run during a LiDAR calibration from two to one.

• Set front and side overlap to 40% when Avia LiDAR is selected.

• Fixed bug causing Mission Speed setting to reset to 10m/s and Manual Flight Speed setting to reset to 5m/s after WGC is rebooted.

04/28/23

v0.8.0

• Adding additional logging for debugging.

• Added EchoSounder payload. If the EchoSounder is selected as the payload within WGC settings, the low battery RTL failsafe will target a 30% landing instead of 20%.

No bug fixes.

04/14/23

v0.8.0

• Added Vertical Scan feature. The Vertical Scan goes to a specified altitude while taking pictures.

• Added ROI Scan feature. The ROI Scan can be used to circle a location on the map while keeping the drone’s nose pointed towards the center location.

• Added Panoramic Image Capture feature. The Panoramic Image Capture triggers the camera while rotating the drone 360 degrees at 4 different gimbal pitches.

• Added EchoSounder payload integration. When selected, the drone’s characteristics are updated to increase ease-of-use when running missions with an EchoSounder payload.

• Renamed “Bridge Scan Strafe” to “Horizontal Scan”. Additionally, the speed at which the Horizontal Scan runs has been decreased to 5m/s to allow for better image quality and drone stability.

• Default maximum flight speed setting to 5m/s.

• Display message to reboot drone when the payload setting is changed.

• Fixed bug causing mission altitude and gimbal angle to carry over between mission planning. This feature can be enabled using the “Maintain mission data” setting within WISPR Settings Menu.

• Removed Pause button from Guided Actions list.

• Removed Vehicle Info section from Mission Planning. This information was outdated.

04/14/23

v0.8.0

• Adding additional logging for debugging.

• Added EchoSounder payload. If the EchoSounder is selected as the payload within WGC settings, the low battery RTL failsafe will target a 30% landing instead of 20%.

No bug fixes.

04/14/23

v0.7.0

• Added bridge scan strafe. This feature is used to strafe to a location clicked on the map, while maintaining the drone’s current heading and altitude and taking pictures every 5m.

• Allow custom gimbal pitch angles when planning a Corridor Scan.

• Added setting to adjust maximum manual flight speed.

• Added setting to disable GCS Failsafe option. This option should only be disabled by advanced users. It is highly recommended to leave this failsafe option turned on.

• Fixed issue with top menu buttons being unresponsive.

02/27/23

v0.7.0

• Only allow Loiter, Land, and RTL flight modes after a low battery failsafe has been triggered.

• Only allow supported flight modes (RTL, Land, Auto, Loiter, and Guided). If an unsupported flight mode is selected, the drone will go into Loiter mode instead.

• If a low battery failsafe RTL has been canceled, continuously display Low Battery Message every 30s.

• Start drone in Loiter mode from firmware so the drone starts in Loiter no matter what GCS is used.

• Added Payload parameter so that the firmware can access the payload and manipulate flight characteristics based on the payload selected.

No bug fixes.

02/27/23

v0.6.0

• When planning a mission, the payload type is automatically set to the payload selected in the WISPR Settings menu.

• Added 'Enable terrain follow during RTL and Land' setting to WISPR settings. When enabled, the drone will use terrain following during an RTL.

• Remove unused "Max Descent Rate" and "Max Climb Rate" Advanced Settings When Planning Mission With Terrain Follow.

• Set TERRAIN_FOLLOW parameter to off by default. This fixes the bug introduced in v0.5.0 that would not allow takeoff due to `PreArm: Waiting for Terrain data`.

01/13/23

v0.5.0

• Improved RTL function to more accurately land at 20 - 23%.

• Fix bug causing ESC temperatures to read incorrectly.

11/22/2022

v0.5.0

• Display WISPR Flight Firmware version in settings page.

• Rebranded logos to match the actual flight firmware used.

• Added support for Terrain Follow within missions.

• Removed Structure Scan mission type temporarily.

• Fix bug causing ESC temperatures to read incorrectly.

• Fix bug causing GUIDED mission controls (Lidar Cal, etc) to be unavailable due to the ESC temperature reading incorrectly.

11/22/2022

v0.5.0

• Improved RTL function to more accurately land at 20 - 23%.

• Fix bug causing ESC temperatures to read incorrectly.

11/22/2022

v0.4.1

• Added RTL altitude to WISPR settings.

• Automatically set drone to LOITER mode after disarming.

• Added support for hotswapping batteries.

• Added “Gimbal Pitch” as a configurable item when planning Survey missions.

• Fixed Bug in Custom RTL. Before the custom RTL, the drone would trigger an RTL with around 35% battery left. The custom RTL will trigger so that the drone lands with 20% - 25% battery left, allowing for increased flight time.

• Moved “Slide To Confirm” Popups up on the screen so that they do not overlap with Flight Data.

• Removed unsupported mission commands from Mission Planning screen.

• Updated default mission speed to 10m/s.

• If there is no mission on drone after completing LiDAR calibration, the drone is set to LOITER mode instead of remaining in GUIDED.

• Fixed issue causing Application settings to revert after updates.

• Removed battery health display until it can be further evaluated.

10/31/2022

v0.3.2

• Reset battery failsafes when motors are disarmed to allow for hotswapping batteries.

• Fixed Bug in Custom RTL. Before the custom RTL, the drone would trigger an RTL with around 35% battery left. The custom RTL will trigger so that the drone lands with 20% - 25% battery left, allowing for increased flight time.

• Fixed bug causing wrong version of WFF to be displayed in WGC.

10/31/2022

v0.3.1

• Added 5s - 8s full throttle straight shot to beginning of Figure 8. This straight shot helps calibrate the Lidar.

• Added option to adjust mission speed within WISPR Settings.

• When Lidar is selected as the payload, RTL speed set to 10m/s. Otherwise, RTL speed is set to the the mission speed. This feature was added so that the user can distinguish Lidar data collected during the mission from Lidar data while the drone is RTLing.

• Drone immediately goes into AUTO mode after a Figure 8 is ran.

• Added “Avia Livox Lidar” and “Hesai Lidar” when selecting camera type in a mission.

No bug fixes.

09/23/2022

v0.2.1

• Increased ESC high temperature threshold to 101°C (previously was 100°C). The ESC high temperature threshold will cause the drone to RTL when an ESC reaches 101°C. This is a safety feature added because an ESC will cut off when it reaches 110°C, causing the drone to crash.

No bug fixes.

09/23/2022

v0.3.0

• Added support for NTRIP server. NTRIP server settings can be found within the General settings page.

• Fixed bug causing polygons to reset while planning a mission when the polygon is reselected to be edited.

v0.2.0

• Moved ESC high temperature RTL to WISPR Flight Firmware so that users that are not using WISPR Ground Control will still have this safety feature implemented. The ESC high temperature threshold is set to 100°C. When an ESC reaches this temperature, an RTL is triggered. This is a safety feature to prevent the ESC from reaching so high of a temperature that it shuts off.

• Fixed bug causing gimbal mount control to not work in missions.

v0.2.10

• Display cameras supported by WISPR Systems drones when selecting a camera within a mission.

• Removed feature that triggers RTL when an ESC temperature reaches 100°C. This feature is now implemented within WISPR Flight Firmware.

• Set camera countdown to 55 seconds to allow time for the camera and camera software to boot.

v0.2.0

• Moved ESC high temperature RTL to WISPR Flight Firmware so that users that are not using WISPR Ground Control will still have this safety feature implemented. The ESC high temperature threshold is set to 100°C. When an ESC reaches this temperature, an RTL is triggered. This is a safety feature to prevent the ESC from reaching so high of a temperature that it shuts off.

• Fixed bug causing gimbal mount control to not work in missions.

v0.2.8

• Automatically select either Basic or Circular based on the mission type (taken out in future releases due to bug).

• Added support for survey, structure scan, and corridor scan missions.

• Added support for gimbal mount control in mission.

• Disallow certain polygon types in survey, structure scan, and corridor scan missions that are not supported.

v0.1.3

• Replaced normal low battery RTL with custom low-battery RTL. The low battery RTL is designed to land the drone exactly at 20-22%, which will prevent the battery from degrading quickly while also allowing for maximum flight time.

No bug fixes.

v0.2.6

No new features.

• Fixed bug causing battery health to display a wrong value.

v0.1.3

• Replaced normal low battery RTL with custom low-battery RTL. The low battery RTL is designed to land the drone exactly at 20-22%, which will prevent the battery from degrading quickly while also allowing for maximum flight time.

No bug fixes.

v0.2.4

• Battery health is now displayed after every flight. If the battery health displayed is below 90%, it is highly discouraged to fly with that battery.

• Added custom battery failsafe. This failsafe replaces the current low battery failsafe. This should extend flight time. An RTL will now be triggered so that the drone will return to its home location and land at 20%. Canceling this RTL is highly discouraged and only should be done in case of emergency. If the RTL is canceled, the drone should be landed immediately to prevent a crash or battery degredation.

No bug fixes.

v0.1.3

• Replaced normal low battery RTL with custom low-battery RTL. The low battery RTL is designed to land the drone exactly at 20-22%, which will prevent the battery from degrading quickly while also allowing for maximum flight time.

No bug fixes.

v0.1.54

• Added automatic figure eight button for lidar calibration. Lidar payload must be selected and drone must be above 150ft to use this function.

• Added feature to stop pictures from autotriggering when an RTL is triggered.

• Fixed bug in AutoFocus button.

• Fixed bug causing payload to have to be reselected every time WGC is opened.

• Partially fixed bug causing app to freeze when the vehicle is disconnected. This bug still persists if using Sony A7R or Sony A6000 cameras.

• Fixed bug causing the A, B, C, and D physical buttons to reset whenever the app is updated.

v0.1.0

No new features.

No bug fixes.

v0.1.48

• Autotrigger RTL if any ESC temperature reaches 100°C (Moved to Flight Firmware in later releases).

• Display highest ESC temperature in top bar. If clicked, all ESC temperatures are displayed.

No bug fixes.

v0.1.0

No new features.

No bug fixes.