Document sonar release 1.8.0

docs/sonar-3d/sonar-3d-15-api-swagger/swagger.json

@@ -289,6 +289,57 @@
                 }
             }
         },
+        "/api/v1/integration/output/imu-batch/enabled": {
+            "get": {
+                "description": "Get whether ImuBatch output is enabled",
+                "tags": [
+                    "acoustics",
+                    "integrationAPI"
+                ],
+                "responses": {
+                    "200": {
+                        "description": "OK",
+                        "schema": {
+                            "type": "boolean"
+                        }
+                    },
+                    "204": {
+                        "description": "No Content"
+                    }
+                }
+            },
+            "post": {
+                "description": "Enable/disable ImuBatch output",
+                "tags": [
+                    "integrationAPI"
+                ],
+                "parameters": [
+                    {
+                        "description": " ",
+                        "name": "request",
+                        "in": "body",
+                        "required": true,
+                        "schema": {
+                            "type": "boolean"
+                        }
+                    }
+                ],
+                "responses": {
+                    "204": {
+                        "description": "No Content"
+                    },
+                    "400": {
+                        "description": "Bad Request"
+                    },
+                    "408": {
+                        "description": "Request Timeout"
+                    },
+                    "409": {
+                        "description": "Conflict"
+                    }
+                }
+            }
+        },
         "/api/v1/integration/status": {
             "get": {
                 "description": "Get the status of the system",

docs/sonar-3d/sonar-3d-15-api.md

@@ -40,10 +40,17 @@ This is the structure of a RIP2 packet:
 
 ---
 
-### Network
-By default, the Sonar 3D-15 uses **UDP Multicast** (`224.0.0.96:4747`), so any device on the local network can receive RIP2 packets without knowing the sonar’s IP.
+### Transmission
 
-The Sonar can also be configured for UDP unicast, or to disable sending of UDP packets. See HTTP API.
+RIP2 transmission is disabled by default. The HTTP API can be used to configure UDP multicast to `224.0.0.96:4747`, or UDP unicast to a given destination address and port. The configuration is persistent, meaning it is kept on restart.
+
+UDP multicast allows transmitting RIP2 packets to devices on the local network without requiring the sonar to know the receiver's IP, and vice versa.
+
+UDP unicast allows transmitting RIP2 packets to a given destination address and port, and can be routed across networks.
+
+Because UDP does not guarantee delivery or ordering, packets may be lost, reordered, or duplicated. Use message sequence numbers to address this.
+
+It is also possible to record RIP2 packets through the GUI.
 
 ---
 
@@ -67,6 +74,15 @@ RIP2 supports several Protobuf-encoded messages, including:
 - `0` = no valid data.
 - `radius = pixelValue * imagePixelScale`.
 
+#### `ImuBatch`
+- Raw measurements of specific force and rate of turn from an internal IMU at 100Hz.
+- Measurements are made at the position of the internal IMU within the sonar. The position offset relative to point cloud origin is -22 mm in x, -46 mm in y and 3 mm in z.
+- Output in batches, with latency below 100ms during normal operation.
+- Expect occational spikes in latency.
+- Expect spikes in latency during configuration.
+- Output while acoustics are enabled.
+- Disabled by default. Enable using the HTTP API. 
+
 ---
 
 ### Coordinate and Image Conventions

docs/sonar-3d/sonar-3d-15-software-changelog.md

@@ -1,5 +1,9 @@
 # Software Versions
 
+## v1.8.0 (2026-06)
+
+- Add option to enable raw IMU output
+
 ## v1.7.1 (2026-05)
 
 - Added an integration API for NTP configuration and status to provide tighter time synchronisation