Nova Firmware Releases
Version 2026.2.0
March 18, 2026
Changelog
- Added onboard diagnostics and monitoring
- Fixed an issue where the LEDs could incorrectly turn off while a status animation was still active
Version 2026.1.0
February 24, 2026
Changelog
- Added arbitrary feedforward input over CAN for velocity control
- Applied feedforward term in closed-loop velocity modes (internal + quadrature velocity)
- Updated absolute encoder direction behavior to track motor inversion consistently
- Improved absolute encoder offset/set-position behavior for more reliable logical position setting
Requires at least ThriftyLib v2026.1.0 or Thrifty Config v2026.1.0 to
set absolute encoder inversion (config update coming soon).
Version 2026.0.2
January 22, 2026
Changelog
- Fixed issues with absolute position control
- Various bug fixes and stability improvements
Version 2026.0.1
January 13, 2026
Changelog
- Fix issue where all device configs including CAN ID were getting overwritten after the firmware update
- Fix issue where serial number could be blank
Version 2026.0.0
January 10, 2026
Changelog
- Added support for brushed motors
- Added ability to reverse external encoder direction
- Added support for Thrifty 10-pin encoder configuration
- Added CAN server mode for the new Thrifty Config app
- Added Grapple LaserCAN integration
- Improved PID loop performance
- Improved current limiting responsiveness to current spikes
- Fixed PID derivative term calculation
Version 1.1.1
March 6, 2025
Changelog
- Fixed a bug with our release process that may have led to incorrect firmware being released briefly during 1.1.0
Version 1.1.0
March 5, 2025
Changelog
- Fixed a bug where the controller could temporarily lose comms if connected to USB only and 12V is applied
- Fixed a bug where the current limit could get stuck
- Added absolute encoder wrapping
- Added the ability to view the analog and IO ports from the data port connector over the app and the API
Version 1.0.3
February 9, 2025
Changelog
- Critical Safety Update to prevent a condition that could cause smoke at startup
- Improved current limit for all motors
Version 1.0.2
January 14, 2025
Changelog
- Improved accuracy of current limit
Version 1.0.0
January 4, 2025
Changelog
- Initial release of Nova Firmware
- Basic functionality and features implemented
For installation instructions and documentation, please visit our documentation page.
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