Flight Control Unit
The FCU controls the hydrofoils to keep the boat foiling in a stable and efficient manner.
2.21.3 (latest)
June 30th, 2025
- Fixed issue that could cause propulsion to turn off when going to harbor mode
- P12: Fixed that an error in current limiting for foil actuator, that caused RPM to incorrectly be limited without reporting any error
2.21.2
June 19th, 2025
- Enhanced Wave State Observer with better performance in varied wave conditions
- Improved height estimator
- Improved acceleration filtering for smoother speed control
- Enhanced degraded mode system to better indicate when flight capability is limited
- Improved foil retraction behavior to prevent unexpected foil movement
- Always run pitch controller when control system is active and rake is ready, preventing nose dives when GPS signal is lost
- Improved takeoff anticipation to provide smoother transitions from planing to foiling
- Fixed an issue where RPM limits were not properly applied during certain retraction states
- Several stability and reliability improvements to flight control systems
- Improve takeoff in strong side wind
2.20.5
April 4th, 2025
- Reduce the overhead of the retraction task when retraction is not running
- Improvements to height estimation
- Optimized foil handling on takeoff
- Inform driver if loss of communication with the DCU
- Inform driver if one of the lockpins are not responding
- Improvements to front foil positioning when not foiling
- User will now be requested to calibrate if retraction has lost its position
- Improve GPS corrections
- Internal improvements and bug fixes
2.19.4
March 18th, 2025
- Improved Velocity Estimate: Velocity calculations have been refined to provide more accurate measurements
- Upgraded UI Communication Protocol: Communication between the flight controller and the UI has been optimized to improve reliability
- Refined RPM Limiting During Retraction: The RPM limiting during retraction has been improved. Operators can now simply reduce the throttle to the matching RPM limit instead of needing to fully return the throttle to neutral
- Enhanced Foil and Rake Assist During Retraction: Improvements have been made to the foil and rake assist during retraction
- Retraction: Resolved an issue where the system would not lock when the magnet was broken. Now, the system will lock if the retraction motor encoder indicates that the strut is positioned at the lockpin hole
2.19.2
March 5th, 2025
- Improved Velocity Estimate: Velocity calculations have been refined to provide more accurate measurements
- Upgraded UI Communication Protocol: Communication between the flight controller and the UI has been optimized to improve reliability
- Refined RPM Limiting During Retraction: The RPM limiting during retraction has been improved. Operators can now simply reduce the throttle to the matching RPM limit instead of needing to fully return the throttle to neutral
- Enhanced Foil and Rake Assist During Retraction: Improvements have been made to the foil and rake assist during retraction
- Retraction: Resolved an issue where the system would not lock when the magnet was broken. Now, the system will lock if the retraction motor encoder indicates that the strut is positioned at the lockpin hole
2.19.1
February 18th, 2025
- Improved Velocity Estimate: Velocity calculations have been refined to provide more accurate measurements
- Upgraded UI Communication Protocol: Communication between the flight controller and the UI has been optimized to improve reliability
- Refined RPM Limiting During Retraction: The RPM limiting during retraction has been improved. Operators can now simply reduce the throttle to the matching RPM limit instead of needing to fully return the throttle to neutral
- Enhanced Foil and Rake Assist During Retraction: Improvements have been made to the foil and rake assist during retraction
- Retraction: Resolved an issue where the system would not lock when the magnet was broken. Now, the system will lock if the retraction motor encoder indicates that the strut is positioned at the lockpin hole
2.18.3
February 18th, 2025
- Retraction: Resolved an issue where the system would not lock when the magnet was broken. Now, the system will lock if the retraction motor encoder indicates that the strut is positioned at the lockpin hole.
2.18.2
January 7th, 2025
- Improved Rake Control: The two rake actuators now work more closely together for better coordination
- Foil Positioning for Reduced Drag: When not flying and the foil is extended, the front and aft foils automatically adjust to a neutral position to minimize drag
- Active Rake Adjustment: The rake adjusts actively while retraction is running
- Reliable GPS Signal Recovery: Updates to the GPS library enhance signal recovery, increasing reliability and performance
- Detailed Diagnostics: Additional diagnostics have been added for the actuators used during flight and retraction for improved monitoring and troubleshooting
- Refined Front Retraction: Now, one strut can remain locked while the other adjusts and locks
- Aft Retraction & Rudder Coordination: Wait for the rudder to automatically move into position before going to harbor position
- Resolved Flight Controller Errors: Fixed issues that falsely triggered flight controller errors when the boat was not flying
- Improved Position Estimation: Enhancements have been made to more accurately estimate the boat's position and orientation
- Upgrades to Core Systems: Various improvements have been implemented in the lower-level system modules for overall performance enhancement
2.17.7
October 30th, 2024
- Increase number of height sensors used and reduce number of errors
- Improve reliability of retraction functionality
- New diagnostics routine for detecting failure in foil mechanism
- Improved handling of sensor faults for more robust flight
- Improved handling of unexpected landings for increased safety and comfort
- Fix bug allowing takeoff when flight control system is not ready
- Fix bugs in startup and shutdown of system
- Internal improvements and bug fixes