7.5.3latest2026-04-24 at 4:22 p.m.All downloads (3)View Details🔖 Release 7.5.37.5.3 (2026-04-24)Bug Fixespower supply reading for 3x (ad82486)
7.5.22026-04-23 at 9:24 p.m.All downloads (3)View Details🔖 Release 7.5.27.5.2 (2026-04-23)Bug Fixesadd soft falling-edge detection to prevent arm jump on quick unplug/replug (cb09f95)power: prevent jitter on quick unplug/replug (32871e3)remove part minverse related in the reading inkwell sensors (d0cbd5b)
7.5.12026-04-17 at 3:38 p.m.All downloads (3)View Details🔖 Release 7.5.17.5.1 (2026-04-17)Bug Fixesbuild: rename duplicate target_homing variable in MINV ifdef block (b00c533)notification removed at the calibration (e2fed4f)safety: disable velocity damping in NORMAL stage for testing (71d2173)safety: held-endpoint state estimator, held-slip fast-path, and FOD threshold tuning (d0c615c)waiting 2 secondes at the first calibration before sending notification to the service about the safeties (e4f8cf8)
7.5.02026-04-15 at 8:45 p.m.All downloads (3)View Details🔖 Release 7.5.0Bug Fixesadd firmware e-brake hold and soft re-entry flow (a7e06b8)add firmware e-brake hold and soft re-entry flow (8ec4eab)align embedded kinematics validation (e624694)auto-update firmware version from VERSION.md in local and CI builds (6617021)ci: remove redundant version update that corrupts MAJOR_VERSION on tag pipelines (2286107)CI: Update CI variables for Strapi v5 (486722a)ci: update to better toolchain (6c0156b)controller: remove duplicate cursor e-brake hold state (37eaf54)controller: remove duplicate cursor e-brake hold state (2f02852)ebrake: remove legacy _should_trip_ebrake mechanism, ebrake now driven exclusively by FOD stages (87ddcaf)ebrake: use PID joint hold for MINV HARD stage instead of EE impedance (a4c4cb6), closes #ifexclusio zone apply on the new value of calibration for minverse (476d72e)exclusio zone apply on the new value of calibration for minverse (8ca5afb)flags: default joint spring assist off (80208c4)flags: default joint spring assist off (db1e397)fod: enable ForceOutputDecay safety in position control mode (8d7615c)fod: enable ForceOutputDecay safety in position control mode (2359d94)fod: wire physical Guard path into Normal to Guard transition (ee6dab4)fod: wire physical Guard path into Normal to Guard transition (9b57d77)gravity compensation for the new Minverse - changing the C_M value (282235b)improving the spring assist, boundary oscillation on the minverse damping, flag fixe in controller (d82559f)joint_spring_assist exclusion zone tighter for minverse calibration only (06473e0)led: show control mode color when unpowered instead of always white (4f9ed1f)led: use green for force control instead of magenta-violet (04f8bec)led: use green for force control instead of magenta-violet (93bf6d3)minverse is the only device to send the calibration notification (d94d4c7)minv: joint spring assist new value - gravity comp new value (can be slightly improve) (11f0b91)minv: new spring assist values and removing exlusion zone from previous calib (d099ae3)minv: reset imu reference when calibration point is set (2cbbca2)minv: update stale condition polarity in commented-out guard (7b7ec77)new flags for blocked calibration - new parser status for notifications (b28d3d5)new Minverse value for joint spring assist (c426a79)new song for minverse for both fail and success (b86b6c7)new song for minverse for both fail and success (654afe5)orange LED for PANIC and HARD FOD safety - update sending only normal to hard mode to the service (3da1ec0)orange LED for PANIC and HARD FOD safety - update sending only normal to hard mode to the service (1db44c7)prevent the movement of the device when isn't calibrated (5efdcf0)prevent the movement of the device when isn't calibrated (18937b4)quaternion fixed (4c7a27e)re-enable max torque clamping disabled by startup notification commit (6fa8dff)re-enable max torque clamping disabled by startup notification commit (d230156)remove EXTENDED_FIRMWARE_VERSION override from local pre-build script (e451712)remove log for the CI (a7df5c3)remove the delay for compatibility with service 3.4.x (368602b)renamme pen to versegrip to stay align with service naming (3dec893)renamme pen to versegrip to stay align with service naming (090849b)safety: align 0xBB safeties payloads with host; keep FOD GUARD + LED from beta (0dafce8)safety: align 0xBB safeties payloads with host; keep FOD GUARD + LED from beta (fba387c)safety: allow PANIC exit when hazard clears even with force present (8146320)safety: restore Inverse3x R-score profile and thresholds to beta values (fd79c75)safety: revert FOD internal acceleration to velocity-based differentiation (d83ea39)safety: skip FOD stage service notify on transition into Guard (e486ccc)safety: skip FOD stage service notify on transition into Guard (959b8d5)safety: unify idle and app FOD path; restore HARD impedance and PANIC melt (2dfd48f)safety: X2 ebrake panic kick and FOD threshold alignment (9c593fb)suppress all safety notifications to service when safety bypass is active (81a89d6)suppress BFLGFodHard/Panic during safety bypass; document ebrake hold behaviour (36f541b)suppress FOD stage notifications to service when safety bypass is active (fe86bec)test: add missing set_animation_mode stub for native tests (73f7fec)tests: add missing stddef include and math fix (32d94de)test: update color control tests to match new LED patterns (76a85b3)Update of the sanitize function to avoid edge cases in calculations (3ef3e3d)Featuresadd a tone for error calib (1056ff7)add a tone for error calib (fa204e6)add force-output decay and idle escape from e-brake hold (8ee89f1)add force-output decay and idle escape from e-brake hold (49cf194)add Inverse3-specific R-score thresholds and stronger braking parameters (5e1abc1)add push notification system to communication protocol (9493d93)add safety_disable tool and restore default build target (69a049b)bypass BFLGEmergencyBrake SET when safety disabled (012ac88)bypass emergency brake effect and joint boundary when safety disabled (9e69c1d)bypass FOD output impedance when safety disabled (a4666f3)bypass force damping safety and idle velocity safety when safety disabled (0c10088)bypass max torque clamp when safety disabled (3fd4f50)controller: Shorten startup ramp and tune FOD recovery (2d973e7)controller: Shorten startup ramp and tune FOD recovery (e2562fd)declare SAFETY_DISABLED_CONFIGURATION_TYPE in parser_setup (5c62d56)ebrake: acceleration-based impact detection to suppress [secure] ebrake triggers (7e9d9f3)ebrake: acceleration-based impact detection to suppress [secure] ebrake triggers (73ca094)ebrake: damping phase before position hold for smooth deceleration (706504c)ebrake: damping phase before position hold for smooth deceleration (cf06403)ebrake: faster detection, hold I/O fix, and stale threshold tuning (626d9c1)ebrake: faster detection, hold I/O fix, and stale threshold tuning (de0ba5d)ebrake: velocity-based endpoint oscillation detection and comm timeout fix (0ca66da)ebrake: velocity-based endpoint oscillation detection and comm timeout fix (5997f3f)ebrake: windowed oscillation detection, sustained force path, and platform-specific thresholds (71b00f2), closes #ifebrake: windowed oscillation detection, sustained force path, and platform-specific thresholds (e4f012c), closes #iffirmware: enhance calibration, power monitoring, and haptic feedback (0764a00)fod: add velocity-based damping path and force-flip oscillation detection (7617c2f)fod: add velocity-based damping path and force-flip oscillation detection (a7a7f8b)fod: optimize ForceOutputDecay performance for higher control loop rate (f813afd)fod: optimize ForceOutputDecay performance for higher control loop rate (c9e0774)fod: raise MINV velocity thresholds +10% and reduce stop hold time (003935f)fod: raise MINV velocity thresholds +10% and reduce stop hold time (eff7068)fod: tune X2 safety thresholds and simplify osc slew path (0821b94)fod: tune X2 safety thresholds and simplify osc slew path (6233fdf)fod: variant safety tuning, harder braking, HARD e-brake hold (2e8a9bc)fod: variant safety tuning, harder braking, HARD e-brake hold (5c27a40)fod: velocity-gated panic veto, physical Guard 2-of-5, coupling confidence (930c4a4)fod: velocity-gated panic veto, physical Guard 2-of-5, coupling confidence (049cab9)implement cmd_safety_disabled_update handler (bc46155)implement SAFETY_DISABLED_CONFIGURATION_TYPE in parser_setup (1f3a354)MINV FOD tuning, R_inst force profile, joint-limit torque attenuation (4eee95b)MINV FOD tuning, R_inst force profile, joint-limit torque attenuation (299739d)minv: add debounced button handler for inkwell calibration (f7fce1e)minv: calibration for minverse only with pen attached to the device - plus service and pen turn on (4202549)minv: calibration for minverse only with pen attached to the device - plus service and pen turn on (d5465c6)minv: invert calibration lock guards — unlocked by default (f885fc2)new led pattern - with new blinking pattern added and new colors assignation for modes (089d686)new song without moving the body (7d47928)new song without moving the body (2536092)new value for regular minverse without hall effect (212dc52)notification on start (06674f8)ORB veto for R- and feat-based HARD; tune non-MINV |F| ramp (c62c40e)ORB veto for R- and feat-based HARD; tune non-MINV |F| ramp (12b7417)plotting the raw force value from the service (5a31687)refactor FOD safety with hazard-only escalation, continuous damping, and impedance control (12e435c)rename BFLGSafetyMode to BFLGSafetyDisabled (f2c0c78)route SAFETY_DISABLED_CONFIGURATION_TYPE through com_link and controller (fd79909)safety: ebrake hold from FOD panic, FOD rebound timers, defaults (6d93027)safety: ebrake hold from FOD panic, FOD rebound timers, defaults (3165678)safety: FOAW end-effector velocity for ForceOutputDecay (c4bfbba)safety: FOAW end-effector velocity for ForceOutputDecay (552d48b)safety: idle velocity hold and MINV FOD oscillation tuning (a6a69a3)safety: idle velocity hold and MINV FOD oscillation tuning (0d17557)safety: new notifications send to the service through the protocol (0c7f7d7)safety: new notifications send to the service through the protocol (9fca25b)safety: tune Inverse3 force-output decay vs X2 (a23d1e2)safety: tune Inverse3 force-output decay vs X2 (796ccbe)strengthen Hard stage braking for faster arm deceleration (e9b54e6)telemetry: integrate safety SerialUSB2 stream and web dashboard (7341e54)tools: web safety dashboard recording and replay playback (3b50c2d)
