Device Firmware

Official firmware for Haply devices, providing the latest features, performance improvements, and stability updates. Designed for developers and advanced users to keep their devices running at their best.

v7.4.0

Released Jan 14, 2026 at 12:00 AM

Release Notes

🔖 Release 7.4.0

7.4.0 (2026-01-14)

Bug Fixes

fix sensor update rate to 15625 instead of 32k. fixed velocity threshold for return. fixed some comments turns per second ->radians (434b0d7)

accelerated UART connections and screen display management on 3x (c31ed8d)

adding a state machine when the power is reconnected (8dcd4e3)

adding some transitions to cursor force control state (fe962ee)

create a flag for seperate the high_vel_damp and the not_maintained_damp safeties (9dfea8f)

default internal damping to 0 (d5a28fc)

deleting some useless logs (14ce17c)

fine tuining stability assist for Minverse (e9bbe75)

global damping set without mapping to force (5c48581)

go to idle mode when you remove the usb cable during a simulation (inv3x) (07f411b)

gravity ramp on boot (1f5a638)

Improved vibration detection and addition of a purple LED to indicate when instability is detected - Also adjusting the velocity treshold for the speedSafety (7a98bf4)

init calib point implementation (87596aa)

inkwell value for old and new gimbal (already live on stable) (630a472)

lower bound values for new non-scratch gimble (e736533)

missing endif (c0c4c35)

missing the activation of the flag for the safety not handle device (f59ebf3)

place the ifdef that missing to complete the CI (df9a6ba)

recovery throttling infinite loop and improve recovery behavior (00e33b5)

redefinition of the use of the UART connection (c83f47f)

returnToHome behaviour change depend on where you are to prevent impossible path for the device (3d9e272)

safety for arms folded (5a00fa7)

safety in calculating torques for the 3x (3500e34)

safety in calculating torques in relation to the force applied (37824ea)

safetySpeed on every states (b82e8d7)

stability assist response message (bd61057)

stabilityAssist improvement (84c9804)

threshold change for safety (a9af535)

UX improve for stabilityAssist (6a3e657)

values for safety and better damping - also change a little bit the UX of stability (0ca4ddc)

Features

added internal damping on inverse3, we can also modify it at run time (578a4c5)

comm to enable/disable return to home (4607637)

communication to configure stability assist (5fdf85d)

enable/disable rth (1be6f0a)

internal damping controlled by the simulation (experimental) (b77439e)

internal damping decay at the end of a simulation session (d3bdc48)

safety for oscillation (584de31)

softwareDebugger implemented (af0e7b0)

stabilityAssist detection and treatment of instability changed - pink led to warn of instabale demo (a8b5d27)

UART debugging between INV3 and an other teensy4.1 (ce77da9)

Performance Improvements

vectflag deterministic by preallocating storage at init and forbidding runtime resize in operator[]. (3d09b4e)

All Downloads

All available downloads for this release:

Device Firmware 7.4.0 InverseX

Artifacts: inverse-firmware_InverseX.zip

Download

Device Firmware 7.4.0 Inverse3

Artifacts: inverse-firmware_Inverse3.zip

Download

Device Firmware 7.4.0 Minverse

Artifacts: inverse-firmware_Minverse.zip

Download

Back to dfw releases

Device Firmware

v7.4.0

Released Jan 14, 2026 at 12:00 AM

Release Notes

🔖 Release 7.4.0

7.4.0 (2026-01-14)

Bug Fixes

fix sensor update rate to 15625 instead of 32k. fixed velocity threshold for return. fixed some comments turns per second ->radians (434b0d7)

accelerated UART connections and screen display management on 3x (c31ed8d)

adding a state machine when the power is reconnected (8dcd4e3)

adding some transitions to cursor force control state (fe962ee)

create a flag for seperate the high_vel_damp and the not_maintained_damp safeties (9dfea8f)

default internal damping to 0 (d5a28fc)

deleting some useless logs (14ce17c)

fine tuining stability assist for Minverse (e9bbe75)

global damping set without mapping to force (5c48581)

go to idle mode when you remove the usb cable during a simulation (inv3x) (07f411b)

gravity ramp on boot (1f5a638)

Improved vibration detection and addition of a purple LED to indicate when instability is detected - Also adjusting the velocity treshold for the speedSafety (7a98bf4)

init calib point implementation (87596aa)

inkwell value for old and new gimbal (already live on stable) (630a472)

lower bound values for new non-scratch gimble (e736533)

missing endif (c0c4c35)

missing the activation of the flag for the safety not handle device (f59ebf3)

place the ifdef that missing to complete the CI (df9a6ba)

recovery throttling infinite loop and improve recovery behavior (00e33b5)

redefinition of the use of the UART connection (c83f47f)

returnToHome behaviour change depend on where you are to prevent impossible path for the device (3d9e272)

safety for arms folded (5a00fa7)

safety in calculating torques for the 3x (3500e34)

safety in calculating torques in relation to the force applied (37824ea)

safetySpeed on every states (b82e8d7)

stability assist response message (bd61057)

stabilityAssist improvement (84c9804)

threshold change for safety (a9af535)

UX improve for stabilityAssist (6a3e657)

values for safety and better damping - also change a little bit the UX of stability (0ca4ddc)

Features

added internal damping on inverse3, we can also modify it at run time (578a4c5)

comm to enable/disable return to home (4607637)

communication to configure stability assist (5fdf85d)

enable/disable rth (1be6f0a)

internal damping controlled by the simulation (experimental) (b77439e)

internal damping decay at the end of a simulation session (d3bdc48)

safety for oscillation (584de31)

softwareDebugger implemented (af0e7b0)

stabilityAssist detection and treatment of instability changed - pink led to warn of instabale demo (a8b5d27)

UART debugging between INV3 and an other teensy4.1 (ce77da9)

Performance Improvements

vectflag deterministic by preallocating storage at init and forbidding runtime resize in operator[]. (3d09b4e)

All Downloads

All available downloads for this release:

Device Firmware 7.4.0 InverseX

Artifacts: inverse-firmware_InverseX.zip

Download

Device Firmware 7.4.0 Inverse3

Artifacts: inverse-firmware_Inverse3.zip

Download

Device Firmware 7.4.0 Minverse

Artifacts: inverse-firmware_Minverse.zip

Download

Back to dfw releases