OpenIndiana Hipster GUI (Illumos): How do I ensure my installed pkgsrc packages are always the latest?

I run OpenIndianaHipster GUI and would like to ensure that my pkgsrc packages are always the absolute latest available in the repos. What is required to do this (it's not particularly clear to me from the [setup instructions](https://pkgsrc.joyent.com/install-on-illumos/)) ? Is simply running # pkgin -y full-upgrade sufficient, or do I *also* have to upgrade from the previous quarterly release pkgsrc trunk set every time a new pkgsrc trunk set quarterly release becomes available?