- Bug fixes - Added button position and size customization - Added optical detection algorithm ( experimental ) The optical wheel rotation detection is designed for a new type of encoder wheel which will not use magnets.

* BUG fixes and new features * Fixed a bug in Visual Mapper ( world orientation was using gravity and heading which caused systematic drift ). - Changed it to .gravity only * Added 3d pointcloud viewer * Improved PDF export from pointcloud viewer * Moved settings button to the left ( divevolk case accidental touch fix ) * Changed button size on saving manual points ( divevolk case mod ) * Increased buttons and label text on manual data point save screen for better readability * Added +10 increment on the depth LRUD data screen ( must hold plus or minus button for 1+ seconds )

Added support for labels to the Visual mapping tool. Now the user can add names of sections of the cave or interest points which are later exported with the pointcloud.

Small fixes on the Visual SLAM mapping method. Added pointcloud viewer/analyzer

- Added auto-save upon session reset ( line survey mode ) or upon exit ( 3d vSLAM, VIO method ) -> survey files are saved on disk in the app's Documents folder. They can be accessed via the files app in ios. - Fixed live map preview. It was drawing segments with incorrect lengths. - Improved magnetic rotation detection calibration algorithm. - Larger buttons, easier for dive-volk case or for new users to see the color coding.

Improvements: - Visual Innertial Odometry mapping. Now the visual mapper function can build and export point clouds using only visual features, no lidar. This will help with potential underwater use of the visual mapper as lidar's IR beams are aborbed within centimeters in water. - Added option to choose magnetometer axis for wheel rotation detection. Some older iphones produce uneven readings when magnitude is used. Bug fixes: settings input forms improved formatting and decimal input.

A real time VIO ( Visual Innertial Odometry ) mapper feature added. It allows for detailed live navigation and mapping as long as you keep a wall, floor or other continuous visual reference from the entrance. Although experimental this feature shows promising results in initial tests.