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Originally Posted by Tristan Lall
I thought that a 2002 model needed a firmware update to support autonomous mode. Weren't the 2002s physically identical to the 2003s, but needed to be sent back to IFI for reprogramming if you wanted to do autonomous (introduced in 2003)?
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I remember the firmware update to the '02 version wasn't necessary for passing the autonomous bit itself. That was just one of the "growth" bits IFI already had reserved for future use and was already passed but not used for anything in '02. I believe what the firmware update changed was to actually cut off access to the OI inputs while the autonomous bit was set, e.g., the Joystick values were all forced to 127, etc.
You might have to take into account that the OI control values will still be passed, for instance, by explicitly setting the OI inputs to neutral values at the beginning of your autonomous section of code. Then again your autonomous code probably will be ignoring those values anyway.