Changelog

v1.0.0 (2026-03-27)

Initial Release

Features

  • ESP32 multi-sensor hub (Kogger, IMU, GPS, depth, temp, conductivity)

  • Binary protocol v4 (AA55 frames)

  • BlueOS Docker extension (HTTP :8099, WebSocket :8766)

  • Kogger waterfall viewer (HTTP :8100, WebSocket :8101)

  • MAVLink bridge (ATTITUDE, SCALED_PRESSURE, GPS_RAW_INT)

  • JSONL session logging

  • UDP Kogger raw forward (desktop KoggerApp compatibility)

  • Ping assembler with multi-chunk handling

  • Sphinx documentation (RTD theme)

Hardware Support

  • ESP32-WROOM-32UE DevKit-C v4

  • Kogger Side-Scan Sonar (dual channel)

  • HWT905 IMU (WitMotion)

  • MS5837-30BA depth sensor (Blue Robotics Bar30)

  • TSYS01 temperature sensor (Blue Robotics Celsius)

  • Atlas Scientific EZO EC conductivity

  • u-blox GPS

Known Issues

  • K1 EZO pins swapped in hardware (GPIO 19/18, not 18/19)

  • SoftwareSerial limited to 3 active instances

  • I2C requires short wires (<10cm) for reliability

  • No automatic log rotation

v0.9.0 (2026-03-20)

Beta Release

  • Binary protocol v3 (with K1 RTK support)

  • Initial BlueOS extension

  • Kogger UDP forwarding

  • Basic dashboard

v0.5.0 (2026-03-15)

Alpha Release

  • JSON protocol (deprecated in v1.0)

  • ESP32 sensor hub MVP

  • Serial → HTTP bridge

Roadmap

v1.1.0 (Planned)

  • DVL velocity estimation (cross-correlation)

  • EKF sensor fusion

  • Dead reckoning position estimate

  • Bathymetric map generation

v2.0.0 (Future)

  • Full SLAM pipeline (loop closure, drift correction)

  • Real-time 3D visualization

  • ROS2 integration

  • Multi-vehicle support