# Changes
The changes relative to the last release, release 3.4-9.1, can be found in the table below.
| Item | Description |
| ------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------- |
| Power on self-test | More components are tested at startup (NTAG5, A1007), with better output on terminal. |
| NuttX version | Upgraded to NuttX version 10.0 (stable release). |
| Sense resistor test | Added a test that will detect if the sense resistor is connected to the measurement input. |
| Negative input for unsigned variables | The CLI will notify you and will not set the variable when a negative number is entered for an unsigned variable. |
| self-test state | The self-test is only done at startup, made it a separate state (not only init state anymore). |
| LED color | LED is now solid red in the self-test state. |
| SoC calibration | Added the OCV state to calibrate the state of charge when in sleep mode. Added the SoC calibration to the self-discharge state. |
| CLI set parameter | Fixed that using the CLI, variables can’t be set with more than its variable type can hold. |
| uv fault to deepsleep | Added that when an undervoltage occurs, it will go to the deepsleep mode after some time to protect the battery. |
| Reboot | Added the reboot command to the CLI to reboot the microcontroller. |
| Flight-mode | Added the flight-mode-enable and i-flight-mode parameters. This can be used to not cut the power to the FMU and motors in flight. |
| a-factory | After setting the factory capacity, the BMS will recalculate and set the full charge capacity and end of charge current as well. |
| Floating point variables | The floating point variables are better limited now. |
| Charge to deepsleep | Added that if the button is hold for five seconds in the charge state, it will go to deepsleep. |
| NFC | Is hard-powered down with GPIO. |
| Discharge to storage | After a long time-out, the BMS will discharge to storage level and go to the deepsleep state. |
| CLI syntax | Some wrong syntaxes are now fixed in the CLI. |
| CLI help messages | Improved the help message if the wrong number of cells are attached/inserted. |
| Wrong messages | The wrong BMS undertemperature detected message if the sensor is disabled has been fixed. |
The first “pin rising edge BCC_FAULT” message has been deleted.
|
| Message limit | Limited the number of “Rising edge BCC\_FAULT” and “clearing CC overflow” messages. |
| CLI color messages | Added functions for the green (good), yellow (warning) and red (error) messages. |
| BCC com errors | This will not be reset (wrongly), but it will be counted and with 255 errors it will reset it correctly. |
| UAVCAN | New message of the draft of the UAVCAN V1 standard message is implemented. |
| Data struct | Added the unit and type string to the data struct.
Added floating point accuracy to the floating point limitations.
|
| Parameters | Added the t-sleep-timeout, i-charge-nominal, i-out-nominal, i-flight-mode, battery-type, flight-mode-enable and m-mass.
Changed the model-id to uint64_t, t-fault-timeout to use with uv to go to the deepsleep state, t-ocv-cyclic0 and t-ocv-cyclic1 are implemented, changed the uavcan-subject-id to 3 different parameters for each message: uavcan-ess-sub-id, uavcan-bs-sub-id and uavcan-bp-sub-id.
v-cell-margin is default 50mV instead of 30mV. ocv-slope is in mV/Amin instead of V/Amin.
|
| State diagram | Added LED indication, Added SELF TEST state, added button hold to the charge to self-discharge state transition, Added SLEEP\_TIMEOUT to the sleep to self-discharge state transition, FAULT\_TIMEOUT used for transition to go to deepsleep with an undervoltage. |
| Charge state diagram | Added LED indication and added button hold to the charge to self-discharge state transition. |
| Cell balancing | The cell balancing is not only based on the cell voltage compared to the desired voltage, but it is based on the calculated estimated cell balance minutes as well. |