Certus Mini Firmware Release Notes 2.00

Firmware Version: 2.00 General Release

Target Hardware: Certus Mini A, N, D

Hardware Versions Supported: 1.0

Release Date: 2026-06-24

Scope: Changes since v1.02

Improved Sensor Fusion Algorithms: Improved navigation performance using the latest fusion algorithm.
Limited Maximum Packet Output Rate: Maximum packet output rate is now limited to 500 Hz to support increased filter performance. Configurations above 500 Hz are capped when updating from earlier firmware.
Improved External Aiding Configuration: Improved external aiding source lever-arm and alignment configurations and status reporting across aiding sources.

Improved Navigation Performance: Improved navigation performance using the latest fusion algorithm.
Updated Magnetic Model: Updated the embedded World Magnetic Model to WMM2025 for improved magnetic heading accuracy.
Extended Altitude Ceiling: Upper altitude constraints have been removed for aerial vehicle profiles, enabling operations at altitude.

Aiding Source Independence: Aiding source "online" and "valid" status flags now track independently of whether the source is explicitly enabled.
Aiding Source Status Packet: Added support for the Aiding Source Status Packet for consistent multi-sensor status reporting (adds ANPP packet 95).

GNSS Status Packets: Introduced new dedicated GNSS Status Packets for per-receiver GNSS status reporting and diagnostics (adds ANPP packets 92, 93).
Unified Aiding Offsets: External aiding source configuration redesigned with unified lever-arm offsets and consistent status reporting across all aiding sources (adds/updates ANPP packets 95, 207, 208).
Enhanced Diagnostics: Added dedicated bootloader_version, navigation_library_version, and navigation filter version fields to the Extended Device Information Packet for improved system health monitoring (updates ANPP packet 13).
Maximum Packet Rate: Limited maximum packet output rate to 500 Hz to support increased filter performance.

Certus Mini A Default Filter Options: Certus Mini A factory default changed to navigation filter disabled. Users can still enable the navigation filter via Filter Options.

Dual Antenna Enforcement: Resolved a configuration anomaly where dual-antenna heading corrections were applied to the navigation solution even when dual-antenna functionality was explicitly disabled.

Aiding Offset Configuration: Fixed an issue preventing aiding device offset configuration immediately after a firmware update. Legacy packets 185 and 196 are compatible with the new Aiding Source Configuration Packets (updates ANPP packets 207, 208).

Bounded Heading Outputs: Fixed Heading and Azimuth fields falling outside the range 0 to 2π across primary output messages (updates ANPP packets 29, 39, 48, 59, 66, 76, 81, 93).
Sensor Telemetry Stability: Fixed invalid gyroscope temperature values in the Sensor Temperatures Packet (updates ANPP packet 85).
System State Output Accuracy: Corrected an anomaly where anti-aliasing was not being applied to applicable fields within the System State Packet output (updates ANPP packet 20).
GNSS NMEA Output: Fixed satellites information population in NMEA GSV and GGA output strings.

Event Pulse Processing: Fixed incorrect pulse counts for Event 1 and Event 2 inputs.
NMEA String Compliance: Fixed nan and -inf values appearing in NMEA output sentences when a value was unavailable.
Primary Serial Safeguards: Fixed a configuration issue where an unsupported baud rate could make the device unresponsive on serial-only setups.
Firmware Update Stability: Fixed a crash scenario
when interrupting a firmware update via the bootloader.
Boot Stability: Resolved an issue that could cause the device to enter a boot loop on startup.

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