NXT Improved Firmware is really useful if you modify and compile your own firmware, but if you want to first test it without compiling it yourself, here are prebuilt binaries:
Releases
Version 1.29i-bf3664d, 2010-09-12
First release, compiled without introduction animation.
Changelog (bf3664d):
- import firmware from LEGO v1.29
- make it compile with gcc
- automatically compute user flash size
- add config to include intro
- automatically include git hash in version
Work in progress
WIP Version 1.29i-813df11, 2011-02-09
Work in progress for absolute position regulation.
Changelog (nicolas 813df11):
- add absolute position control
- replace unused PwnFreq IOMap with RegulationTime
- add fractional speed support for faster regulations
- add option to disable saturation in regulation intermediary values
- factorize code used for PID regulation
- move fractional position error code in its own function
- slightly change the fractional change algorithm to minimize mean error
- add speed and acceleration limit to absolute position regulation
- provide access to the maximum speed and acceleration from user code and iomap
- reduce regulation time to 10 ms