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Version: 3.5.x

v3.5.2

3.5.2 is a patch release. The headline is a WebSocket streaming-rate improvement: synchronous clients now receive fresh device state at their full loop rate. It also folds in internal quality work and several device and navigation fixes.

Highlights​

  • Full-rate fresh state for synchronous WebSocket clients. The per-session reply throttle was removed, so every reply now carries freshly captured state instead of being capped near ~1 kHz (measured ~31 kHz, 100% fresh, on a Linux release machine). This reverses a fresh-state slowdown introduced in 3.5.1.

Internal improvements​

  • Firmware status codes are logged as 0x-prefixed hex for readability.
  • Upgraded the glaze serialization library to v7.3.3 — wire output is byte-identical.
  • Session-scoped safety configuration.
  • Service-side workspace auto-scale (F1-F3).

Fixes​

  • Firmware 7.1+ devices that report no return-home configuration are detected again — they no longer fail the detection handshake.
  • Back-pressure no longer wrongly drops device tick updates under load, which had caused intermittent gaps in device state.
  • Auto-follow bubble navigation no longer flickers near the surface — the haptic output force stays steady and the auto-centering drift now tapers smoothly to zero at the bubble surface.
  • The service no longer crashes when its configuration directory cannot be created (for example, a non-writable location); it logs a warning and continues.