Regularly? Almost any major software/hardware project changes iteratively over time. You just have to audit the changes between major releases, which for firmwa

Regularly? Almost any major software/hardware project changes iteratively over time. You just have to audit the changes between major releases, which for firmware, are typically very irregular. Also, just transitioning to a more open process with an open codebase has the effect of "keeping them honest". Once the code is out there, they have no way of knowing who might be scrutinizing it and have no chance to retroactively cover something up. This is why it's such a big deal when companies make a commitment to openness (the real kind -- not the buzzword kind). It's a statement of being willing to forego most of the dirty tactics that being closed source allows and to playing a fair(er) game.