> For the complete documentation index, see [llms.txt](https://gryfn.gitbook.io/gryfn-hardware/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://gryfn.gitbook.io/gryfn-hardware/development/gobi-software.md).
# GOBI Software
## Embedded Software
See link below for a full rundown of Gobi's Embedded Software.
{% content-ref url="/pages/wBmul3KqxeUY8skRFTfx" %}
[Embedded Software](/gryfn-hardware/support/gobi-user-manual/embedded-software.md)
{% endcontent-ref %}
* Unique mission naming and integrated data management
* VNIR Hyperspectral Setup
* Set Frame Period, Exposure, Gain Mode, and upload HSI Polygon file
* Payload Configuration
* Modify capture trigger methodology, perform bench tests, and more
* Modify calibration files, easily upgrade firmware
## Integrated with GRYFN Processing Tool Software
* Seamless data download and processing
* One-stop data download for GNSS, LiDAR, and VNIR data
* \*Data download also available via FTP software
* \*Optional Frame Camera module data recorded to camera-dependent storage media
* Ease-of-use, efficiency, & autonomy
* Supports Headwall Nano/Micro & Specim AFX series hyperspectral data processing, Velodyne and Ouster LiDAR data processing, RGB frame camera data processing, and SBG & Applanix GNSS-INS data processing
## Firmware Release Notes
v1.0.X
**v1.0.1**
* Fixes Stop Mission being disabled due to mission name validation.
**v1.0.0 (2026-03-26)**
* *Significant improvements across the entire embedded software package, requiring significant rewrites, UI overhauls, driver updates, and more. These release notes cannot cover everything v1.0.0 updates, but will clarify key features and improvements*
* Capture methodology overhaul; LiDAR & RGB may now capture using the same polygon as VNIR
* Polygon capture methodology now includes *optional* min & max altitude, but may be used in Lat, Long only mode
* Saves capture polygons to disk for simplified selection process
* Adds polygon basemap/grid
* Adds SBG Quanta Micro lever arm configurations
* Adds key chassis info to header row
* Moves data functions to separate tab
* Data tab allows viewing data capture size, num. RGB triggers, capture duration, etc. per mission
* Download logs from individual missions
* Delete individual missions
* Clear GNSS data logger
* Sensors page displays sensor status
* Adds bench test functionality
* Config page displays boresight calibration info, and allows users to update on-disk calibration file
* Update tab enables users to easily upload firmware files
* Modifies hyperspectral live view to use only 90th Percentile curve by default
* Adds mission name validation and automating naming from button press
v0.5.X
**v0.5.4 (2024-05-30)**
* Adds and reads VNIR parameteres in sensors config for UI logic.
**v0.5.3 (2025-04-23)**
* Adds an optional "vnir" tag to sensors for Gobi builds without VNIR.
**v0.5.2 (2024-10-15)**
* Clears Headwall data on disk when system is reset.
**v0.5.1 (2024-10-14)**
* Adds file sizes for logs in API calls and UI.
**v0.5.0 (2024-10-14)**
* Adds log file management and download to kestrel embedded UI.
v0.4.X
**v0.4.1 (2024-10-14)**
* Fixes some bugs in flight calculator.
* Adds validation to frame period.
**v0.4.0 (2024-10-11)**
* Adds flight calculator for VNIR.
* Re-factors the mission planning UI into accordioned sections.
v0.3.X
**v0.3.7 (2024-10-02)**
* Rips gryfn.log file and adds relevant lines from mission to its own log file for the mission.
* Adds log file to gobi.mission.json file for FTP transfer.
**v0.3.6 (2024-10-01)**
* Reduces NMEA parsing logging.
* Fixes permission issue with on-board data.
**v0.3.5 (2024-09-26)**
* Fixes altitude trigger thread not priming correctly.
**v0.3.4 (2024-09-21)**
* Re-works altitude trigger to find a ground-level altitude only after mission starts.
* Adds UI element for determining if the triggering is ok. In the altitude trigger case, this happens when the altitude standard deviation is within the configured tolerance.
* Adds altitude std. deviation to UI.
**v0.3.3 (2024-09-19)**
* Ensures the stop mission button *will not* be disabled under any circumstances.
**v0.3.2 (2024-09-17)**
* Fixes UDP UTF8 parsing error on unconfigured SBG.
**v0.3.1 (2024-09-13)**
* Fixes altitude parsing issue (string vs. float)
**v0.3.0 (2024-09-10)**
* Improves HSInsight websocket connection robustness.
* Adds dark reference capture and polygon uploading.
* Adds ellipsoid height altitude to UI.
v0.2.X
**v0.2.4 (2024-08-26)**
* Adds jetson stats to logging and reduces GPIO logging clutter.
**v0.2.3 (2024-08-22)**
* Various bug fixes and UI updates
**v0.2.1 (2024-08-01)**
* Various bug fixes and UI updates
v0.1.X
**v0.1.0 (2024-05-08)**
* Initial integration of GRYFN WebUI.
* Enables user to Start, Stop, and Rename missions.
* Clear mission data from LiDAR and RGB sensors.
---
# Agent Instructions
This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com.
## Querying This Documentation
If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.
Perform an HTTP GET request on the current page URL with the `ask` query parameter:
```
GET https://gryfn.gitbook.io/gryfn-hardware/development/gobi-software.md?ask=
```
The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.
Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.