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2021.03.19 Release Notes

Greetings, Misty developers!

A small update with a few new features and bug fixes. Please note there are changes to the behaviour of Hazards, removing the IMU Tilt Hazard by default.

Thanks, as always, for being an early developer for the Misty II platform. We can’t wait to see what you build!

Installing the Update

Misty receives software upgrades as over-the-air (OTA) system updates. This update will be available within the next 24-48 hours (the precise timing varies by region).

Misty automatically checks for new updates each time she boots up. As long as her battery has enough charge, she automatically installs any updates that are available. If your robot doesn’t start to install this update the next time she boots up:

  • Check that Misty is connected to power or sitting on her wireless charging station.
  • Try connecting Misty to the Command Center to make sure she’s still on your Wi-Fi network.

If Misty is charging and connected to the internet, you can check whether an update is available in your region by connecting Misty to the Command Center and looking at the System Updates section.

Note: Misty reboots once during a system update. During an update, Misty ignores all commands except Halt and Stop. If Misty starts installing an update while charging, do not remove the power source until the update is finished and Misty’s eyes are fully open.

If you have issues with a system update or need technical assistance for other reasons, for the quickest response you can:

  • Post a message to the Support category here in the Community forums.
  • Contact the Misty support team through the chat embedded in this site, or by emailing support@mistyrobotics.com.

Release Contents

  • Misty II - Updates
    • Window IoT Core OS version: 10.0.17134 or higher - No updates
    • Android OS: (8.1) - No updates
    • Robot Version:
    • MC Version:
    • RT Version:
    • Sensory Services App Version: 1.24.2
  • Web-based Tools - No updates.
  • Misty JavaScript Extension for VSC - No updates.
  • Misty App - No updates.
  • Documentation - No updates.

New Features

  • Added error messages from Azure & Google speech services
    • Subscribe to the websockets for Azure & Google speech services (new features in the previous release)
    • Errors from those services will be passed through to provide more information on issues to assist in debugging
  • New SpeakAzure command that users Azure’s online TTS. Parameters include:
    • Text - The text to speak, can be SSML or plain text, for SSML refer to the Microsoft docs
    • IsSSML - If true then will pass in the text as SSML, otherwise Azure will process it as plain text, default false
    • UtteranceId - ID for tracking when it is done speaking
    • SpeechKey - Azure Cognitive Services Key
    • SpeechRegion - The Location of the Azure Cognitive Services instance
    • Voice - The Azure Cognitive Services voice to use, voice support is dependent on the Cognitive Service subscription being used and information can be found in the Microsoft documentation
    • Language -The Locale for Azure TTS
    • UseCaching - If true, when true for the first time for a specific text will save a file, for future runs if it is true and the file already exists then play the file instead of requesting a new one from Azure Cognitive Services, if false then always get a new file from Azure Cognitive Services and do not save it.
    • TrimSilence - If true, then post process the audio file received from Azure Cognitive Services to try to trim excess silence at the end of the file, if false then do not do post-processing on the file
    • TimeSilenceAggressiveness - How aggressive the silence trimming is. Scale from 0-3, where 0 is the least aggressive, 3 is the most aggressive, default is 1
    • Note - Since this is a Cloud service you will need to be online to be able to use. If you cache the audio files you will not need to go to the cloud if it’s repeating previously used TTS
    • This will show in API Explorer
  • Changed the way Hazards works and have turned off the IMU Tilt hazard by default. This means Misty will no long trigger a hazard if IMU shows a tilt of 6 degrees or more
  • New parameters added to UpdateHazardSettings
    • TiltThreshold - you can supply a byte value that corresponds to the degrees at which the TiltThreshold is triggered for the hazard. The ceiling is limit above which the the hazard will trigger
      • byte values = Ceiling( [Desired Degree Angle] * 255 / 180)
      • Note a setting of 255 sent to the TiltThreshold is the same as disabling it
    • DisableTiltThreshold - boolean, if true it will set the TiltThreshold to 255 (disabled)
    • These will show in API Explorer

Bug Fixes & Improvements

  • We have found and removed a 1200ms delay in the wakeword transition when using the Azure KeyPhrase from the last release
  • There were low memory messages coming from RT firmware. This was fixed and should eliminate most, if not all, of these messages from the logs.
  • C# skill bug fixes: preventing event triggers from firing when they shouldn’t have and reducing failed starts and decreasing overhead while skills are running.

Known Issues

The following is a list of new known issues with this release. For a comprehensive list of the issues we’re tracking, see the Known Issues section of the Community forums.

  • No known issues.
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