Boreas 70 / 90 Firmware Release Notes 2.11

Firmware Version: 2.11 General Release

Target Hardware: Boreas A70, D70, A90, D90

Hardware Versions Supported: 1.3, 1.2, 1.1, 1.0

Release Date: 2026-06-05

Increased performance across Vehicle Type: Extended improvements to sensor fusion algorithms to all vehicle types (including Fixed Wing).
Expanded Septentrio Mosaic-X5 support: Fixed-base RTK positioning via RTCM input is now fully supported on variants equipped with the Septentrio Mosaic-X5 GNSS receiver.
Improved External Aiding Configuration: Improved external aiding source lever-arm and alignment configurations and status reporting across aiding sources.

Expanded Vehicle Profile Support: Improved sensor fusion algorithms are now deployed across all vehicle profiles, including the Fixed Wing profile.
Improved Stationary Heading: Enhanced heading stability performance for the Stationary profile when operating under vibration.
Wind Velocity Tracking: Aerial vehicle profiles now output wind velocity estimates without requiring external air data (adds ANPP packet 57).
Extended Altitude Ceiling: Upper altitude constraints have been removed for Aerial vehicle profiles, enabling operations at height.

Septentrio Binary Format (SBF) Support: Direct SBF stream input is now supported on auxiliary and GPIO ports, enabling seamless integration with external Septentrio Mosaic-X5 receivers.
Aiding Source Independence: Aiding source "online" and "valid" status flags now track independently of whether the source is explicitly enabled.
Acoustic Positioning Integration: Added initial tracking support for Subsonus acoustic positioning as an external navigation aiding source, accepting incoming position updates (updates ANPP packet 76).
Robust Offsets Migration: Upgrading units automatically migrates legacy lever-arm offset settings, previously stored via legacy packets 185 or 196, into the new unified configuration format on first boot.

Unified Aiding Offsets: Introduced new Aiding Source Configuration Packets and an updated Aiding Source Status Packet for comprehensive multi-sensor offset and status management (adds/updates ANPP packets 95, 207, 208).
Enhanced Diagnostics: Added dedicated bootloader_version and navigation_library_version fields to the Extended Device Information Packet for deep system health monitoring (updates ANPP packet 13).
Bounded Heading Outputs: Heading and Azimuth tracking fields are strictly bounded to the 0 to 2π rad specification across all primary output messages, resolving a regression where values could fall into a -π to π range (updates ANPP packets 29, 39, 48, 59, 66, 76, 81, 93).
GNSS Error Propagation: Hardware-specific faults originating on the Septentrio Mosaic-X5 internal receiver chip are now properly surfaced via the GNSS Failure bit within the System State Packet (updates ANPP packet 20).

Primary Serial Safeguards: Serial port configuration routines now validate incoming baud rate settings, preventing accidental device lock-outs or unresponsiveness on serial-only hardware setups.
X20P Hardware Support: Updated internal Aries X20P receiver firmware to v1.25 and synchronized the Web UI configuration screens to accurately map and display X20P signal frequency names.
Web UI Improvements: Added a real-time status page utilizing active communication packets and removed the obsolete Coarse Alignment setup page, which is no longer applicable to updated filter builds.

GNSS Post-Update Stability: Resolved an issue where a rare GNSS receiver failure could occur following a firmware update on products with a u-blox F9P or Septentrio Mosaic-X5 receiver.
GNSS Redundancy Failover: Fixed a bug within the internal receiver failover manager that left the failover-active flag set to false, which silently disabled secondary GNSS receiver redundancy.
D70 MX5 Fix Acquisition: Resolved an issue where the Septentrio Mosaic-X5 receiver on Boreas D70 units could report an unknown receiver type and fail to acquire an RTK fix.

Odometer Pulse Rollover: Corrected a telemetry regression where odometer pulse counts would prematurely clear after a max number of pulses, interrupting distance accumulation metrics (updates ANPP packet 85).
Dual Antenna Enforcement: Resolved a configuration bug that misapplied dual-antenna heading corrections to the navigation solution even when dual-antenna functionality was explicitly disabled.
ADU Pressure Tracking: Fixed an anomaly where Pressure Sensor metrics would evaluate as NaN while operating in Air Data Unit (ADU) aided modes (updates ANPP packet 28).
Sensor Telemetry Stability: Resolved a data corruption bug that generated invalid gyroscope temperature telemetry (updates ANPP packet 85).
Event Pulse Processing: Fixed a hardware mapping error to ensure recorded input counts precisely match physical pulse occurrences.
NMEA String Compliance: Fixed an alignment edge case where unavailable data values would parse string outputs as nan or -inf rather than conforming to valid NMEA blank placeholder standards.
Port Stream Resilience: Corrected a port parsing crash, ensuring serial ports mapped to handle NovAtel input safely process malformed or unexpected binary streams without triggering a system restart.

For the firmware update process - refer to "Firmware Update" section in the manual.