RELEASE: Caveatron 3.2.0

[caveatron-discuss]

Version 3.2.0 of the Caveatron firmware is now available on Github:

https://github.com/Caveatron/Software

Improvements in this version:

- A new control has been added to the bottom of the Start Scan screen for both Passage and Room scans to disable the angle shift detection. This can be useful in some cases where its difficult to get a smooth scan such as an especially tight crawlway, a steep climb, or other tough situations. Disabling the angle check can result in a worse quality scan but sometimes it might be the only way to get a successful scan without having to restart it many times. The angle check always resets to enabled for a new scan so must be disabled each time.

- The magnetic strength threshold values for the magnetic anomaly detection function are now automatically determined and saved during Compass Calibration. You can still manually adjust them in the Settings menu.

- A long persistent bug may finally have been fixed. Sometimes when pressing "End Scan" the Caveatron would freeze and the scan would be lost. This has been difficult to track down since it happens so infrequently. However, it appears that it was occurring an interrupt to perform an IMU check occurred at the same instant as checking the location where a touch occurred on the screen. The interrupt is now momentarily disabled during the touch check which will hopefully fix it. It doesn't look like there is any affect of this change on the scan if you accidentally touch a part of the screen that is not a button.

- The Survey Statistics page has been revised. Most notably, the survey depth is now accurately computed instead of roughly estimated. If you have multiple groups of shots in a survey that are not connected, the length, depth and number of stations are shown separately for each group and you can switch between the groups. Other values shown are for the entire survey.

- The CVL format for the LIDAR scans has been updated to 3.1. IMU values are now saved for the initial position measurements at the start of each Passage Scan as well as for Splay Shots taken before a Room Scan. In the file, these are lines that start with the letter 'H'. Caveatron Process 2.5.0, recently released, is already setup to process these correctly. Older versions of Caveatron Process will still work and just ignore these new lines. You won't notice any different normally, but if you discover that you did not have a good calibration while performing scans, you can now get a better calibration after the survey and use it to fully process the data. Before now, the Splay Shot and starting positions angles were locked into the calibration onboard the Caveatron at the time the scan was taken.