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CHANGELOG.txt
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CHANGELOG.txt
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======================================================================================================
MSCL Change Log - update with each release
The version number scheme in MSCL is as follows:
MAJOR.MINOR.PATCH
The MAJOR version is incremented when changes are made (to the public interface) that are not backwards compatible.
The MINOR version is incremented when a new feature is added (to the public interface) or a current feature is improved upon.
The PATCH version is incremented when a bug is fixed or a small change is made.
Major revisions will specify what caused the non-backwards compatible change. These will be specified like so:
CHANGED - A non-backwards compatible change was made to an existing function/class.
RENAMED - A function/class has been renamed.
REMOVED - A function/class has been removed.
======================================================================================================
Forthcoming
- CHANGED Switched to CMake build system
- Updated READMEs to reflect new build system
- Updated example code for Python to conform more to Python3
- Changed some build file names to be more consistent across systems
- Builds now using Docker instead of standard build scripts
- CHANGED Timestamp functions seconds() and nanoseconds() no longer default UNIX epoch - default epoch is now the storedEpoch() of the object
- CHANGED Timestamp::Epoch enum values changed:
- UNIX is now 0x04
- GPS is now 0x03
- Added INTERNAL (0x01) and EXTERNAL (0x02) and UTC (0x04, same as UNIX)
- Wireless
- Updated China transmit power limit to 10dBm
- Inertial
- Added GV7-AR, -AHRS, -INS support
- Added CV7-INS support
- NmeaMessageFormat changes:
- Added max configurations count
- Made supportedDataClasses() public
- CHANGED SentenceTypes PKRR and PKRA to MSRR and MSRA, respectively
- Added MipDataClasses as a typedef for a vector of MipTypes::DataClass
- Added UART feature for GPIO configuration
- Added Aiding Measurements command set (0x13)
- InertialNode::sendAidingMeasurement()
- Types: AidingMeasurementPosition, AidingMeasurementHeight, AidingMeasurementVelocity, AidingMeasurementHeading, AidingMeasurementMagneticField, AidingMeasurementPressure
- InertialNode::get/setAidingMeasurementResponseMode()
- InertialNode::get/setAidingMeasurementReferenceFrames()
- Moved GeometricVector, Position, PositionOffset classes to PositionVelocity.h, added Vec3f base class
- Moved Quaternion class to EulerAngles.h, added Rotation class to represent either a Quaternion or EulerAngles object
- MIP Data:
- parsing for GQ7 Continuous Built-In Test (0xA0, 0x01)
- Aiding Frame Configuration Error (0x82,0x50)
- Aiding Frame Configuration Error Uncertainty(0x82,0x51)
65.0.0 - 2022-11-18
- Wireless
- Added Taiwan region code for wireless devices
- Inertial
- RENAMED InertialTypes::GNSS_Source::INTERNAL_GNSS -> INTERNAL_GNSS_ALL
- RENAMED InertialNode::get/setAdvancedLowPassFilterSettings() -> get/setLowPassFilterSettings()
- AdvancedLowPassFilterData -> LowPassFilterData
- AdvancedLowPassFilterConfig -> LowPassFilterConfig
- CHANGED data type AdvancedLowPassFilterData::cutoffFrequency uint16 -> float (truncates decimal when cast to uint16 for legacy command)
- Updated GnssReceiverInfo to read new receiver fw information from description field
- Updated GPS Ionospheric Corrections alpha and beta value types to Vector
- Automatically detect and add required parameters for save as startup, load startup, and default settings command functions
- Fix device info not fully cleared on InertialNode::clearDeviceInfo()
- MipNodeFeatures changes:
- Added supportedGnssSources() to lookup supported GNSS Aiding Source options
- Added supportedLowPassFilterChannelFields() to lookup supported channels to which low-pass filter settings can be applied
- Added supportedGnssSignalConfigurations() to lookup supported GNSS Signal configuration combinations
- Add command supported checks on getGnssReceiverInfo(), getEventInfo() so these are safe to check regardless of model (empty lists returned if unsupported)
- Added support for MIP data:
- Continuous Built-In Test (0xA0, 0x01)
- SBAS Status (0x81,0x12) (0x91-95,0x12)
- Calculated SBAS Correction (0x81,0x13) (0x91-95,0x13)
- GNSS RF Error Detection (0x81,0x14) (0x91-95,0x14)
- Added support for MIP commands:
- Low-Pass Anti-Aliasing Filter (0x0C,0x54)
- Reference Point Lever Arm (0x0D,0x56)
- NMEA Message Format (0x0C,0x0C)
64.3.0 - 2022-06-03
- Added support for G-Link-200 6522-6001 (custom default configuration)
- Added support for MIP commands:
- Event Support (0x0C,0x2A)
- Event Control (0x0C,0x2B)
- Event Trigger Status (0x0C,0x2C)
- Event Action Status (0x0C,0x2D)
- Event Trigger Configuration (0x0C,0x2E)
- Event Action Configuration (0x0C,0x2F)
- Sensor Range (0x0C,0x52)
- Get Calibrated Sensor Ranges (0x0C,0x53)
- Added support for MIP data:
- Event Source (0xFF,0xD0)
- Reference Time (0xFF,0xD5)
- Delta Reference Time (0xFF,0xD6)
- External Timestamp (0xFF,0xD7)
- Delta External Time (0xFF,0xD7)
- Overrange Status (0x80,0x18)
- System data set (0xA0)
- Time Sync Status (0xA0,0x02)
- GPIO State (0xA0,0x03)
- Added MipSharedDataFields (MipDataPacket::shared()) to more easily access shared fields within a packet
- Added check for supported event trigger threshold qualifiers
- Updated supported CV7 aiding measurement filters
- Update supported CV7 GPIO pin options
- Added check for supported geographic sources
- Added check for complementary filter north compensation support
- Added support for storing and getting Timestamp class values in both GPS and Unix epochs - default behavior unchanged
64.2.2 - 2022-03-08
- Reverted defaul MIP command timeout to 250 ms
- Increased timeout for MipNode::saveSettingsAsStartup() to 2500 ms
- Increased timeout for MipNode::loadFactoryDefaultSettings() to 1200 ms
64.2.1 - 2022-02-28
- Increased Mip Node commands default timeout 250ms->500ms
64.2.0 - 2022-02-17
- Added support for GPIO State (0x0C,0x42)
64.0.1 - 2022-02-15
- Added Indonesia region code for wireless devices
64.0.0 - 2022-01-28
- RENAMED and inverted MipTypes::MipCommandBytes::responseSuccess to sendCmdFailed
- Changed MipNode::getConfigCommandBytes() to catch exceptions thrown when reading settings from the device, instead buildCmdFailed is set to true for the corresponding entry in the returned MipCommandSet
63.2.0 - 2022-01-28
- Added aiding measurement filter supported check
63.1.1 - 2022-01-20
- Add model information for 3DM-CV7-AHRS (6286) and 3DM-CV7-AR (6287)
63.1.0 - 2022-01-13
- Added RTK (v2) 6285-0100 bitfield status support and set as default
- Updated RTK (v1) 6285-0000 bitfield status to have _v1 suffix
63.0.1 - 2022-01-06
- Increase default readWriteRetries for BaseStation and WirelessNode objects from 0
- BaseStation default: 2
- WirelessNode default: 3
63.0.0 - 2022-01-05
- Add enum MipModels::Modifier to represent the second half of a MIP model number for select models
- Add enum MipModels::ModelNumber as an integer representation of full MIP device model numbers
- Add functions to properly compare model numbers with placeholder modifier values
- Add MipModel class to represent a MIP model number that keeps track of full model number, node model (first part), and modifier (second part)
- Add MipModel object constants to represent known products
- MipNode::model() now returns a MipModel object instead of MipModels::NodeModel enum value
- Remove unsupported MipModels::NodeModel enum values: node_3dm, node_fasA, node_3dm_gx2
62.2.1 - 2022-01-05
- Update Torque-Link-200-3ch (s) gain values
62.2.0 - 2021-11-22
- Update wireless sensor warmup delay min/max values
- Add wireless sensor warmup delay default values
62.1.2 - 2021-10-18
- Fixes Windows python build, and updates windows python build scripts to work easier out of the box
62.1.1 - 2021-10-13
- Updates documentation definitions to work with new version of NaturalDocs
62.1.0 - 2021-10-12
- Add support for Torque-Link-200-3ch (s)
62.0.2 - 2021-08-17
- set South Africa region to the same as US instead of EU
- add merge option for factory streaming channel as enum mscl::InertialTypes::FACTORY_STREAMING_MERGE
62.0.1 - 2021-05-27
- add entry for South Africa to WirelessTypes::RegionCode enum (region_southAfrica) - set available transmit powers to the same as EU (RegionCode::region_europeanUnion)
62.0.0 - 2021-05-19
- update inertial time of week channel names from _lastValidTow to _tow for accuracy:
- GNSS Position Aiding Status (0x82,0x43)
- GNSS Attitude Aiding Status (0x82,0x44)
- Aiding Measurement Summary (0x82,0x46)
61.2.3 - 2021-05-18
- Fix InertialTypes::GnssAidingStatus enum values, add NO_FIX and CONFIG_ERROR entries - definition for status value of fields: GNSS Position Aiding Status (0x82,0x43), GNSS Attitude Aiding Status (0x82,0x44)
61.2.2 - 2021-04-20
- Add ability to set lastDeviceState on MipNode objects (MipNode::setLastDeviceState())
61.2.1 - 2021-04-16
- Fix available options for Estimation Control Flags (0x0D,0x14) config command for CV5-25 (MipNodeFeatures::supportedEstimationControlOptions()) - hard, soft iron auto calibration now available
61.2.0 - 2021-03-23
- Add support for Torque-Link-200-3ch
61.1.7 - 2021-03-22
- Remove assert(false) from MipTypes::channelName() and MipChannelIdentifier::name() on undefined channel field/qualifier or identifier type
61.1.6 - 2021-03-04
- Add support for inertial command Input Speed Measurement (0x0D,0x60)
61.1.5 - 2021-02-12
- Add support for inertial data field GNSS Dual Antenna Status (0x82,0x49)
61.1.4 - 2020-01-28
- Update RTKDeviceStatusFlags to reflect field definition changes
- Changed all bitmask constants (names and values)
- Changed all accessor functions
- ResetReason enum: changed HARDWARE_RESET to UNKNOWN, WATCHDOG_RESET to HARDWARE_ERROR_RESET
61.1.3 - 2020-01-11
- Add support for RTK Command Activation Code (0x0F, 0x07)
61.1.2 - 2020-01-09
- Add RawBytePacket collection for Wireless Base Stations
- Add RawBytePacket parsing to WirelessParser
- Add RawBytePacketCollector to BaseStation
- Add function BaseStation::getRawBytePackets() to get raw byte packets
61.1.1 - 2020-01-05
- Add RawBytePacket collection for MipNodes
- Add RawBytePacket parsing to MipParser
- Add RawBytePacketCollector to MipNode
- Add function MipNode::getRawBytePackets() to get raw byte packets
61.1.0 - 2021-01-04
- Add support for 3DM-CL5-15, -25
61.0.20 - 2020-12-10
- Add support for inertial data fields:
- Odometer Scale Factor Error (0x82,0x47)
- Odometer Scale Factor Error Uncertainty (0x82,0x48)
61.0.19 - 2020-12-04
- Add function MipNode::clearDeviceInfo() to reset the associated MipNodeInfo object, forcing that information to be re-read from the device
61.0.18 - 2020-12-02
- Moved loadStartupSettings() and loadFactoryDefaultSettings() from InertialNode to MipNode (base class) - now available on RTKNode as well
- Add additional parameter options to MipNode::saveSettingsAsStartup(), loadStartupSettings(), loadFactoryDefaultSettings()
- list of command IDs (MipTypes::MipCommands) to perform the action for
- list of command IDs and parameters to perform the action for commands that require identifier(s) (message format, enable streaming, comm port speed, etc.)
61.0.17 - 2020-12-01
- Add support for MIP command Comm Port Speed (0x01,0x09) - automatically used by MipNode::get/setUARTBaudRate() if supported
- Moved get/setUARTBaudRate from InertialNode to MipNode (base class) - now available on RTKNode as well
- add option port ID parameter
- Add MipNodeFeatures::getCommPortInfo() returns supported port IDs and types of MIP device
61.0.16 - 2020-11-02
- Add function DeviceStatusData::asValueMap() to get a map of all populated inertial device status values for the target device
- Update RTKDeviceStatusFlags to include additional values after definition change
61.0.15 - 2020-10-26
- Update MIP data packet parsing to detect and use shared inertial timestamp fields as the device timestamp in addition to existing timestamp fields
61.0.14 - 2020-10-25
- Remove MipNodeFeatures::supportedGpioPins() - device supported pin IDs can be found in MipNodeFeatures::supportedGpioConfigurations()
- Remove vector type GpioPinIds
- Remove GpioConfiguration::PinId - switch all remaining references to uint8
61.0.13 - 2020-10-23
- Update supported inertial GPIO features functions, typedefs to return map of supported GPIO functionality per pin
- Added: supportedGpioConfigurations(), supportedGpioPins()
- Fix inertial config command byte creation (MipNode_Impl::getConfigCommandBytes()) for:
- Speed Measurement Lever Arm Offset (0x0D,0x61)
- GPIO Configuration (0x0C,0x41)
- GNSS Signal Configuration (0x0E,0x02)
- GNSS RTK Dongle Configuration (0x0E,0x10)
61.0.12 - 2020-10-22
- Fixed Bitmap 0 mask error
- Fixed <GpioConfiguration::PinModes>
61.0.11 - 2020-10-21
- Added Inertial Types:
- PinModeOptions (A vector of <GpioConfiguration::PinModes> values)
- GpioFeatureOptions (A vector of <GpioConfiguration::Feature> values)
- GpioBehaviorOptions (A vector of <GpioConfiguration::GpioBehavior> values)
- Added MipNodeFeature commands:
- supportedGpioPinModes()
- supportedGpioBehaviors()
- supportedGpioFeatures()
- Added support for:
- GPIO Configuration (0x0C,0x41)
61.0.10 - 2020-10-14
- Update values in PositionVelocityReferenceFrame enum
- ECEF: 0x01
- LLH_NED: 0x02
- Update Relative Position Configuration (0x0D,0x55) command to reflect definition changes (InertialNode::get/setRelativePositionReference)
61.0.9 -2020-10-13
- Add PpsSource::PPS_DISABLED to MipNodeFeatures::supportedPpsSourceOptions() for supported devices
61.0.8 - 2020-10-13
- Changed InertialTypes::PpsInputOutput to PpsSource
- Removed unsupported command PPS Output (0x0C,0x29)
- Added option to resume streaming to InertialNode::enableDataStream to maintain function behavior despite command behavior change
- Added support for:
- Speed Measurement Lever Arm Offset (0x0D,0x61)
- Odometer Settings (0x0C,0x43)
61.0.7 - 2020-10-12
- Shorten multi-identifier name keys to attempt to resolve channel names being too long
- Fix finding shared data field names within GNSS data classes
61.0.6 - 2020-10-12
- Removed Tracking Channel as Mip Identifier type (MipChannelIdentifier::GNSS_TRACKING_CHANNEL)
- Space Vehicle Information (0x81,0x0C): re-added tracking channel data point/channel
61.0.5 - 2020-10-11
- Add support for shared inertial data fields - these occur in all data sets:
- Shared Ticks (0xFF,0xD1)
- Shared Delta Ticks (0xFF,0xD2)
- Shared GPS Timestamp (0xFF,0xD3)
- Shared Delta Time (0xFF,0xD4)
61.0.4 - 2020-10-11
- Changed MipChannelIdentifier::Type::DGNSS_BASE_STATION_ID to GNSS_BASE_STATION_ID
- Add support for inertial data fields:
- GNSS Satellite Status (0x91,0x20)
- GNSS Raw Observation (0x91,0x22)
- GNSS Station Info (0x91,0x30)
- Add command ID definitions for Ephemeris data fields (0x81, 91-95, 0x61, 62, 63) to MipTypes::ChannelField - parsing not implemented
61.0.3 - 2020-10-09
- Update inertial field parsing/definition for GNSS RTK Corrections Status ([0x81, 0x91-95],0x31)
- Add support for inertial data fields:
- Clock Correction (0x82,0x32)
- Clock Correction Uncertainty (0x82,0x33)
- Multi Antenna Offset Correction (0x82,0x34)
- Multi Antenna Offset Correction Uncertainty (0x82,0x35)
61.0.2 -2020-10-09
- Add unit tonne (unit_mass_tonne) to WirelessTypes::CalCoef_Unit
- Add support for inertial command Run Filter (0x0D,0x05)
61.0.1 - 2020-10-08
- Updated channel names to help with parsing/categorization:
- Space Vehicle Information (0x81,0x0C)
- DGNSS Information (0x81,0x0E)
- DGNSS Channel Status (0x81,0x0F)
61.0.0 - 2020-10-07
- CHANGED parsing for following inertial data fields to utilize new additional identifiers functionality:
- Space Vehicle Information (0x81,0x0C)
- DGNSS Information (0x81,0x0E)
- DGNSS Channel Status (0x81,0x0F)
- default channelname() will differentiate between data from different satellite IDs and tracking channels
- following channels removed (information retained in MipDataPoint::addlIdentifiers)
- spaceVehicleChannel
- spaceVehicleId
- dgnssBaseStationId
- dgnssSpaceVehicleId
- MOVED GnssAidingStatus enum to InertialType::GnssAidingStatus
- Added support for additional identifiers on MIP data points
- MipChannelIdentifier class contains identifier type and value, as well as an optional additional specifier
- MipDataPoint::addlIdentifiers() returns the additional identifiers associated with that point
- MipDataPoint::channelName() by default will include additional identifiers in channel name (added optional format parameters)
- Updated channel names to help with parsing/categorization:
- Temperature Statistics (0x80,0x14)
- GNSS Attitude Aiding Status (0x82,0x44)
- Added support for inertial data fields:
- GNSS Position Aiding Status (0x82,0x43)
- Aiding Measurement Summary (0x82,0x46)
60.0.5 - 2020-10-02
- Add units grams (unit_mass_grams) and tons (unit_mass_ton) to WirelessTypes::CalCoef_Unit
60.0.4 - 2020-09-29
- Updated channel names (MipTypes::CHANNEL_NAMES()) of the following channels to help with parsing/categorization:
- Temperature Statistics (0x80,0x14)
- Odometer Data (0x80,0x40)
- Magnetometer Residual Vector (0x82,0x2C)
- ECEF Position Uncertainty (0x82,0x36)
- ECEF Velocity Uncertainty (0x82,0x37)
- ECEF position (0x82,0x40)
- ECEF Velocity (0x82,0x41)
- NED Relative Position (0x82,0x42)
60.0.3 - 2020-09-28
- Add support for inertial data fields GNSS Attitude Aiding Status (0x82,0x44)
60.0.2 - 2020-09-25
- Add support for inertial data fields:
- Odometer Data (0x80,0x40)
- Magnetometer Covariance Matrix (0x82,0x2A)
- Magnetometer Residual Vector (0x82,0x2C)
- ECEF Position Uncertainty (0x82,0x36)
- ECEF Velocity Uncertainty (0x82,0x37)
- ECEF position (0x82,0x40)
- ECEF Velocity (0x82,0x41)
- NED Relative Position (0x82,0x42)
60.0.1 - 2020-09-19
- InertialNode::getCommunicationMode() - remove verification that this a supported descriptor as it is falsely not reported by the device in some scenarios
60.0.0 - 2020-09-17
- REMOVED InertialModels::NodeModel, RTKModels::NodeModel - combined and replaced with MipModels::NodeModel
- REMOVED unsupported RTKNode functions:
- getDataPackets()
- totalPackets()
- Added MipNode base class for InertialNode and RTKNode and relocated shared functionality to base
- Added RTKNode MipNode shared functions (previously only on InertialNode):
- get/setCommunicationMode()
- getConfigCommandBytes()
- sendCommandBytes()
- saveSettingsAsStartup()
59.0.0 - 2020-09-11
- RENAMED CH_FIELD_GNSS_IONOSPHERIC_CORRECTION to CH_FIELD_GNSS_GALILEO_IONOSPHERIC_CORRECTION for accuracy
- Change applied to all 6 corresponding GNSS data set channel fields CH_FIELD_GNSS_1 - CH_FIELD_GNSS_5
58.0.7 - 2020-09-04
- Added reporting for DeviceStatusData::asMap() of
- gnss1PpsPulseInfo_LastTimeinMS
- gnss1PpsPulseInfo_Count
58.0.6 - 2020-08-21
- Fixed Bitfield values in GNSS Signal Configuration (0x0E,0x02) constructor
58.0.5 - 2020-08-19
- Added Bitfield class to handle reading and writing masked values within a bitfield
- Added support for reading and writing signed int8 to ByteStream, DataPoint, and Value classes
- Added GNSS and RTK command set IDs to MipPacketInfo and DescriptorSet enums
- Added support for inertial commands:
- Relative Position Configuration (0x0D,0x55)
- GNSS Antenna Cal Control (0x0D,0x64)
- GNSS Signal Configuration (0x0E,0x02)
- GNSS RTK Dongle Configuration (0x0E,0x10)
- Added MipNodeFeatures::supportedAdaptiveFilterLevels to support varied level availability across devices
- Added InertialTypes::HeadingSource::HEADINGSOURCE_GNSS_DUAL_ANTENNA
58.0.4 - 2020-08-07
- CHANGED InertialTypes::GnssFixType::FIXTYPE_FTK_FIXED to FIXTYPE_RTK_FIXED (typo)
58.0.3 - 2020-08-06
- Changed RTKDeviceStatusFlags::ResetReason enum values to their base values outside of the StatusFlags (uint32) context
- Added InertialTypes::FilterStatus_Running::FILTERSTATUS_CONDITION to mask the Condition bits in the Prospect Filter Status bitfield
- Added InertialTypes::FilterCondition enum to represent the FILTERSTATUS_CONDITION option values
58.0.2 - 2020-08-03
- Updated RTKDeviceStatusFlags to reflect bitfield definition changes
- Changed MipTyes::CHANNEL_NAMES entries for GPS and GNSS Ionospheric Corrections channel field/qualifiers to ensure they're unique
58.0.1 - 2020-08-03
- Update inertial field parsers for:
- GNSS RTK Corrections Status (0x81,0x31) - added RTK status data point, fixed valid flags
- GPS Ionospheric Correction (0x81,0x71) - fixed matrix parsing, fixed valid flags
- GNSS Ionospheric Correction (0x81,0x73) - fixed vector parsing, fixed valid flags
58.0.0 - 2020-07-30
- REMOVED support for inertial command Kinematic Constraint Control (0x0D,0x51) (no device support):
- InertialNode::get/setKinematicConstraints()
- MipNodeFeatures::supportedAccelerationConstraintOptions(), supportedVelocityConstraintOptions(), supportedAngularConstraintOptions()
- MipTypes::Command::CMD_EF_KINEMATIC_CONSTRAINT
- InertialTypes::KinematicConstraint
- struct KinematicConstraints
- type KinematicConstraintOptions
- Added support for inertial commands
- Vertical Gyro Constraint Control (0x0D,0x62)
- Wheeled Vehicle Constraint Control (0x0D,0x63)
- Added new Sample Rate type (decimation) to support inertial data sets with an unknown base rate (SampleRate::Decimation(), RateType::rateType_decimation)
57.2.2 - 2020-07-28
- Add additional options to following enums for new product support:
- InertialTypes::GnssFixType
- InertialTypes::FilterState
- InertialTypes::FilterStatus_Running
57.2.1 - 2020-07-27
- Add support for MIP Commands:
- Commanded Zero-Velocity Update (0x0D, 0x22)
- Commanded Zero-Angular Rate Update (0x0D, 0x23)
57.2.0 - 2020-07-21
- Update GQ7 and RTK model numbers:
- 3DM-GQ7: 6284
- RTK: 6285
- Add support for MIP Commands:
- Receiver Info (0x0E, 0x01)
- Generic Poll Data (0x0C,0x0D)
- Sensor to Vehicle Frame Transformation Euler (0x0C,0x31)
- Sensor to Vehicle Frame Transformation Quaternion (0x0C,0x32)
- Sensor to Vehicle Frame Transformation DCM (0x0C,0x33)
- Get config command bytes for Multi-Antenna Offset (0x0D,0x54) based on reported receivers
- Update enum definitions:
- AidingMeasurementSource
- HeadingAlignmentOption (add HeadingAlignmentMethod view)
- PpsInputOutput
57.1.4 - 2020-07-17
- MipCommand: allow function selector to be included for undefined commands despite being reported as 'not supported'
57.1.3 - 2020-07-15
- Fixed data response parsing for inertial commands:
- Accel Bias (0x0C,0x37)
- Gyro Bias (0x0C,0x38)
- Capture Gyro Bias (0x0C,0x39)
- Magnetometer Hard Iron Offset (0x0C,0x3A)
- updated inertial command Advanced Low-Pass Filter Settings (0x0C,0x50) to send 0 for cutoff frequency when automatic specified
57.1.2 - 2020-07-14
- Added response descriptor parameter to GenericMipCommand::Response constructor
57.1.1 - 2020-07-10
- Added support for MIP Commands:
- Factory Streaming (0x0C,0x10): InertialNode::setFactoryStreamingChannels()
- PPS Source (0x0C,0x28): InertialNode::get/setPpsSource()
- PPS Output (0x0C,0x29): InertialNode::get/setPpsOutput()
57.1.0 - 2020-06-30
- Added support for existing GNSS MIP data fields for new GNSS data sets (0x91-95)
- Fixed bug that prevented function selector byte being included in MIP packet when using MipCommand class for undefined command IDs
57.0.0 - 2020-06-29
- CHANGED constructor MipNodeInfo(MipDeviceInfo, vector<uint16>, mscl::SampleRates, mscl::SampleRates, mscl::SampleRates) to MipNodeInfo(MipDeviceInfo, vector<uint16>, map<mscl::MipTypes::DataClass, mscl::SampleRates>) to better support more possible supported data classes
- Added data set descriptors for MIP data sets GNSS 1-5 (0x91-95) to MipTypes::DataClass and DescriptorSet
- Add MipNodeFeatures::useLegacyIdsForEnableDataStream() to support parameter definition changes in the Data Stream Control command (0x0C, 0x11)
56.1.2 - 2020-06-19
- Add support for new generic Message Format (0x0C, 0x0F) and Get Base Rate (0x0C, 0x0E) MIP commands
- Add function SampleRate::FromInertialRateDecimationInfo() to build a SampleRate object from base rate and rate decimation values
56.1.1 - 2020-06-19
- Added FilterInitializationValues::autoInitialize to support command definition change
56.0.1 - 2020-06-17
- Added support for RTK device type
- Added support for Get RTK Device Status Flags (0x0F,0x01)
56.0.0 - 2020-05-28
- RENAMED InertialNode::get/setSensorToVehicleTransformation() to get/setSensorToVehicleRotation_eulerAngles() for accuracy
- RENAMED MipTypes::Command::CMD_EF_SENS_VEHIC_FRAME_TRANS to CMD_EF_SENS_VEHIC_FRAME_ROTATION_EULER
- Added support for commands:
- Sensor to Vehicle Frame Rotation DCM (0x0D,0x4E)
- Sensor to Vehicle Frame Rotation Quaternion (0x0D,0x4F)
- Added class Quaternion (extends Matrix)
55.0.4 - 2020-05-21
- Added InertialNode::saveSettingsAsStartup that accepts a list of commmand IDs and saves only those specified
55.0.3 - 2020-05-21
- Added support for fields:
- GNSS RTK Corrections Status (0x81,0x31)
- GPS Ionospheric Correction (0x81,0x71)
- GNSS Ionospheric Correction (0x81,0x73)
- GNSS Clock Info 2 (0x81,0x10)
- GNSS GPS Leap Seconds (0x81,0x11)
55.0.2 - 2020-05-14
- Added support for fields:
- AHRS Data: Raw Pressure (0x80, 0x16)
- AHRS Data: Temperature Abs (0x80, 0x14)
- Filter Data: Mag Bias (0x82, 0x1A)
- Filter Data: Mag Bias Uncertainty (0x82, 0x1B)
55.0.1 - 2020-04-3
- Added asMap function for DeviceStatusData returned by the DeviceStatus command
- returns a map of DeviceStatusValues and string values representing the device status
- Added supportedStatusSelectors() to check which devices support diagnostic vs basic status data
55.0.0 - 2020-02-28
- CHANGED WirelessModels::NodeModel::node_ptLink200_gy to node_ptLink200
- CHANGED NodeFeatures_ptlink200_gy to NodeFeatures_ptlink200
- include new inertial filter settings commands to InertialNode::getConfigCommandBytes
- Aiding Measurement Enable (0x0D,0x50)
- Kinematic Constraint (0x0D,0x51)
- Adaptive Filter Options (0x0D,0x53)
54.1.2 - 2020-02-27
- fix latitude/longitude switch in write Filter Initialization Config command (0x0D, 0x52) (GQ7)
54.1.1 - 2020-02-27
- Remove function selector from inertial Reset command (0x0D, 0x01) to avoid invalid parameter error
54.1.0 - 2020-02-17
- Added support for new inertial commands (GQ7)
- Aiding Measurement Enable (0x0D,0x50)
- Kinematic Constraint (0x0D,0x51)
- Adaptive Filter Options (0x0D,0x53)
- Multi Antenna Offset (0x0D,0x54)
- add generic functionality to MipCommand class to simplify adding new command support
54.0.0 - 2020-02-13
- CHANGED GeometricVector from a struct to a class
- x, y, and z are now get/set functions, not public variables
- added north, east, and down get/set functions
- added referenceFrame to indicate whether values are ECEF (x, y, z) or NED (north, east, down)
- CHANGED Position from a struct to a class
- latitude, longitude, altitude are now get/set functions, not public variables
- added x, y, and z get/set functions
- added referenceFrame to indicate whether values are ECEF (x, y, z) or LLH (latitude, longitude, altitude)
- Added support for get/set Filter Initialization Config command (0x0D, 0x52) (GQ7)
- Added heading accessor function to EulerAngles class - heading() and yaw() get/set the same value
53.1.0 - 2020-02-04
- Add ability to read factory calibration values (slope, offset, unit) on supported nodes (PT-Link-200-GY)
53.0.0 - 2020-01-09
- REMOVED support for the mV/V-Link (unreleased product)
- REMOVED InputRangeMap InputRangeHelper::RANGES_MVPVLINK
- CHANGED WirelessModels value 63250200 from node_mvPerVLink to node_ptLink200_gy
- Add support for the PT-Link-200-GY
52.5.0 - 2020-01-06
- add InertialNode::isDataStreamEnabled() - command (0x0C, 0x11) function selector 0x02 (read current)
52.4.4 - 2019-12-18
- revert linux symlink port name resolution changes pending additional testing
52.4.3 - 2019-11-25
- resolve symlink port names for serial ports on linux
52.4.2 - 2019-11-20
- update ChannelFrequencyClass enum values (CFC Filter options EEPROM values)
52.4.1 - 2019-11-15
- update supported sample rates for G-Link-200-R
52.4.0 - 2019-11-15
- add support for G-Link-200-R
- add support for CFC Filter Configuration option (G-Link-200-R only)
52.3.1 - 2019-10-09
- enabled support for poll command for V-Link-200 on firmware version 12.45139 and above
52.3.0 - 2019-09-09
- added Poll functionality for supported products
52.2.1 - 2019-09-03
- update jam files for static dependency support
52.2.0 - 2019-08-27
- InertialNode::setUARTBaudRate()
- add optional parameter to prevent the serial connection automatically being closed and re-opened at the new baud rate
- add 250 ms sleep between sending the command to the device and re-establishing port connection to account for the delay on the device
52.1.0 - 2019-08-20
- add ability to close and re-establish serial connections with an different baud rate via SerialConnection::updateBaudRate
- automatically re-establish connection when inertial device baud rate is changed via InertialNode::setUARTBaudRate or InertialNode::sendCommandBytes
- add missing type documentation to ExposedInertialTypes.h
- add function selector 0x06 - USE_NEW_SETTINGS_NO_ACKNACK to MipTypes::FunctionSelector enum
52.0.0 - 2019-08-08
- updating to 52.0.0 which should have been done on the last commit due to the non-backwards compatible change
- using the enum keyword for maps in the the SWIG interface to fix an issue with newer versions of SWIG
51.0.2 - 2019-08-07
- RENAMED captureTareOrientation to tareOrientation
51.0.1 - 2019-07-12
- fix for Sync Sampling network logic divide by 0.0 when no channels are active
51.0.0 - 2019-07-11
- had to move the following nested classes as SWIG wasn't generating these in Python
- CHANGED PpsPulseInfo to be a standalone struct (previously nested in DeviceStatusData class)
- CHANGED StreamInfo to be a standalone struct (previously nested in DeviceStatusData class)
- CHANGED DeviceMessageInfo to be a standalone struct (previously nested in DeviceStatusData class)
- CHANGED PortInfo to be a standalone struct (previously nested in DeviceStatusData class)
- CHANGED TemperatureInfo to be a standalone struct (previously nested in DeviceStatusData class)
50.0.4 - 2019-07-11
- another fix for corrupted mip packet causing a crash when parsing fields
50.0.3 - 2019-07-08
- fix reply byte for Magnetometer Capture Auto Calibration command (0x0D, 0x27)
50.0.2 - 2019-07-08
- fix for corrupted mip packet causing a crash when parsing fields
50.0.1 - 2019-06-18
- added a hasValidFlag() function to the MipDataPoint class for checking if the point was received with a valid flag
50.0.0 - 2019-06-17
- CHANGED Inertial EF FilterStatus enum, as it was previously incorrect
- InertialTypes::FilterStatus separated into FilterStatus_Running and FilterStatus_Initialization
- Additional inertial data value enums added
49.0.4 - 2019-06-11
- add double support to Vector and Matrix classes
- refactor Vector class to extend Matrix
- allow vector DataPoint to be cast to matrix
49.0.3 - 2019-06-10
- add support for Magnetometer Capture Auto Calibration command (0x0D, 0x27)
- add support for Tare Orientation command (0x0D, 0x21)
49.0.2 - 2019-06-04
- updated algorithm to convert GPS to UTC to get better resolution.
49.0.1 - 2019-06-04
- adding Timestamp::getLeapSeconds() and Timestamp::setLeapSeconds() functions for retrieving and adjusting
the number of leap seconds between GPS and UTC time used by MSCLs conversion.
49.0.0 - 2019-06-04
- RENAMED MipDataPacket::utcTimestamp() to MipDataPacket::deviceTimestamp()
- RENAMED MipDataPacket::utcTimeValid() to MipDataPacket::deviceTimeValid()
- RENAMED MipDataPacket::utcTimeFlags() to MipDataPacket::deviceTimeFlags()
- parsing CH_FIELD_SENSOR_GPS_CORRELATION_TIMESTAMP, CH_FIELD_GNSS_GPS_TIME, and CH_FIELD_ESTFILTER_GPS_TIMESTAMP
fields into deviceTimestamp packet meta-data.
- when deviceTimestamp fields are present, using this information to better set the MipDataPacket::collectedTimestamp()
which helps prevent bunching up of points.
48.3.9 - 2019-05-20
- add support for MIP Device Status command (0x0C, 0x64) for additional model numbers (previously supported only GX5-45)
48.3.8 - 2019-05-13
- set timeout for Capture Gyro Bias command based on specified sampling time to allow for full 30 s range
48.3.7 - 2019-05-03
- removed MIP Channel sample rate validation
- handle sample rates below 1 Hz for MIP channels (rate type seconds per sample instead of Hz)
48.3.6 - 2019-04-15
- added support for inertial command Get/Set Gravity Noise Minimum (0x0D, 0x2A)
48.3.5 - 2019-04-08
- update SHM-Link-201 and SHM-Link-210 Japan transmit powers
48.3.4 - 2019-04-08
- added Canada region code
- updated transmit powers to the latest specifications
48.3.3 - 2019-04-04
- added support for inertial Enable/Disable Measurements command (0x0D, 0x41)
48.3.2 - 2019-04-03
- added support for inertial commands:
- Signal Conditioning Settings (0x0C, 0x35)
- Device Power States (0x0C, 0x61)
- Device Data Stream Format (0x0C, 0x60)
48.3.1 - 2019-04-02
- added support for inertial GPS Dynamics Mode command (0x0C, 0x34)
48.3.0 - 2019-03-22
- added 15 dBm transmit power option
- added new region code options
- updated transmit powers to the latest specifications
- consolidated transmit power logic into 1 file, as it was getting too complicated spread out across "Feature" classes
48.2.6 - 2019-03-12
- add function to InertialNode to send byte streams to node and listen for ACK/NACK response
- fix bug in parsing GNSS Constellation Settings response data
48.2.5 - 2019-03-08
- add function to InertialNode to get byte streams needed to set current configuration
48.2.4 - 2019-03-04
- fix for incorrect input ranges for 40G G-Link-200-OEMs
48.2.3 - 2019-02-14
- fix for accel channels available for the SHM-Link-210
48.2.2 - 2019-02-12
- made InertialNode::features() const
48.2.1 - 2019-02-11
- fix for not parsing LDC (Non-Sync) start command correctly
48.2.0 - 2019-02-11
- added WirelessNode::resendStartSyncSampling, an advanced command to resend just the Start Sync Sampling command to a pre-configured Node
48.1.0 - 2019-02-08
- added SyncNetworkInfo::startedSampling() for checking if a Node has successfully started sync sampling (response heard)
48.0.4 - 2019-02-01
- fix for raw debug data parser reporting duplicating data if not parsed by a device's data/command parser
48.0.3 - 2019-01-31
- support for fw 12.42801 on SG-Link-200 and SG-Link-200-OEM only allowing 1 low pass filter config
48.0.2 - 2019-01-24
- updated WirelessNodeConfig to allow unknown transmit power levels as long as they are below the max supported
48.0.1 - 2019-01-14
- fix for reading the excitation voltage from eeprom in WirelessNodeConfig::apply when not necessary
48.0.0 - 2019-01-07
- CHANGED input range enums for the RTD channels, as they were previously incorrect
47.1.2 - 2018-12-19
- added enums for diagnostic data fields
47.1.1 - 2018-12-18
- added sample rate restriction to SG-Link-200
47.1.0 - 2018-12-05
- added low battery threshold configuration
47.0.5 - 2018-11-29
- include excitation voltage in auto cal parameters conditionally based on model and firmware version
47.0.4 - 2018-11-29
- add excitation voltage to auto cal parameters to support SG-Link-200-OEM
47.0.3 - 2018-11-20
- fix deadlock caused by locking comm protocol mutex earlier than necessary
47.0.2 - 2018-11-16
- added Connection::rawByteMode and Connection::debugMode "getter" functions
- updated RTD-Link-200 max sample rate per adc channels/filter call
- added Channel Mask error message for RTD-Link-200 and TC-Link-200 when low pass filter/sample rate/channel mask errors
47.0.1 - 2018-11-01
- fix for logic in determining max sample rate per low pass filter for the RTD-Link-200
47.0.0 - 2018-10-31
- REMOVED NodeFeatures::minLowPassFilter
46.0.0 - 2018-10-30
- CHANGED NodeFeatures::maxSampleRateForLowPassFilter to take the active channel mask
- restricting max sample rate per low pass filter for the TC-Link-200 and RTD-Link-200
45.3.8 - 2018-10-24
- add additional inertial NodeModel values
45.3.7 - 2018-10-12
- add ConstellationId enum
45.3.6 - 2018-10-11
- fix for listInertialDevices not setting the type of connection
- fix for warning on out of order initialization list
45.3.5 - 2018-10-04
- update IEPE-Link acceleration channel resolution to 23-bit
45.3.4 - 2018-10-02
- add IEPE-Link ADC and Gain Amplifier voltage reference feature values to support mV/g calibration
45.3.3 - 2018-10-01
- updated list of input ranges for TC-Link-200 and RTD-Link-200
45.3.2 - 2018-09-28
- revisions to the names of Channel Groups and channel descriptions retrieved from NodeFeatures
- fix for incorrect channel number for the RTD-Link-200 in the NodeFeatures
45.3.1 - 2018-09-26
- update for corrected calibration coefficient ch9-16 eeproms
45.3.0 - 2018-09-26
- initial support for TC-Link-200
- initial support for RTD-Link-200
- added NodeFeatures::transducerTypes() to get a list of supported transducer types
45.2.6 - 2018-09-24
- fix for crash/hang when closing a port (just in the last commit)
45.2.5 - 2018-09-24
- WirelessNodeConfig verifying calibrated float with angle mode, in all sampling modes
- changed deprecated boost::io_service to boost::io_context
45.2.4 - 2018-09-11
- updates to Advanced Low-Pass Filter Settings command (0x0C, 0x50)
45.2.3 - 2018-09-07
- fix for Diagnostic Packet not updating the last state correctly
45.2.2 - 2018-09-07
- fix for never updating the WirelessNode last state to Sleep mode
45.2.1 - 2018-09-07
- fix for Set to Idle v2 not updating the WirelessNode last known state
- fix for an Angle Mode configuration error for Nodes that don't support Angle Mode
45.2.0 - 2018-09-06
- added WirelessNode, InertialNode, and DisplacementNode lastDeviceState() functions to get the last
known state that MSCL believes the device to be in, tracked by processing data and performing commands.
45.1.4 - 2018-09-05
- added new input range for SG-Link-200, SG-Link-200-OEM, and Torque-Link-200
45.1.3 - 2018-08-31
- added support for inertial config command Set Reference Position (0x0D, 0x26)
45.1.2 - 2018-08-31
- fix for incorrectly labeling int16x10 data sweeps as not being calibrated
45.1.1 - 2018-08-30
- added missing SG-Link-Hermetic 2900 model number
45.1.0 - 2018-08-29
- support for SG-Link-200
45.0.1 - 2018-08-29
- updated list of low pass filters for SHM-Link-210
45.0.0 - 2018-08-29
- RENAMED WirelessTypes::sensorOutputMode_vibration to WirelessTypes::sensorOutputMode_accel
- support for % memory full diagnostic packet
44.3.0 - 2018-08-28
- added support for inertial config command Soft Iron Matrix Process Noise (0x0D, 0x2C)
44.2.3 - 2018-08-27
- fixed build problem with vehicle dynamics
- renamed fixed property of Geographic source to manual to remove warning
44.2.2 - 2018-08-27
- Added features call to find available vehicle dynamics modes by node
44.2.1 - 2018-08-24
- fix for missing excitation voltages from NodeFeatures for the SHM-Link-210
44.2.0 - 2018-08-24
- added support for the following inertial config commands:
- Magnetometer Noise Standard Deviation (0x0D, 0x42), Gravity Noise Standard Deviation (0x0D, 0x28), Accelerometer Noise Standard Deviation (0x0D, 0x1A), Gyroscope Noise Standard Deviation (0x0D, 0x1B)
- Hard Iron Offset Process Noise (0x0D, 0x2B)
- Pressure Altitude Noise Standard Deviation (0x0D, 0x29)
- Accelerometer Bias Model Parameters (0x0D, 0x1C), Gyroscope Bias Model Parameters (0x0D, 0x1D)
- created generic classes for inertial commands to get/set collections of GeometricVectors (floats x, y, z) and floats
44.1.0 - 2018-08-24
- basic support for the SHM-Link-210 models
- support for parsing calibrated int16 x10 data types
- support for configuring the data format for int16 x10
- verifying that 4-byte float is enabled when using angle fatigue modes
44.0.2 - 2018-08-16
- fix for comments for inertial commands Declination Source (0x0D, 0x43), Inclination Source (0x0D, 0x4C), and Magnetic Field Magnitude Source (0x0D, 0x4D)
44.0.1 - 2018-08-15
- checking for unsupported channels for derived categories in verifyConfig.
44.0.0 - 2018-08-15
- CHANGED NodeFeatures::derivedCategories() to NodeFeatures::channelsPerDerivedCategory()
which returns a map of supported DerivedCategory to ChannelMask that it supports.
- REMOVED WirelessTypes::DerivedCategories typedef as it is no longer used.
43.5.2 - 2018-08-13
- updated to Boost 1.68
43.5.1 - 2018-08-10
- checking whether Sensor Output Mode is supported in the verify function of WirelessNodeConfig
43.5.0 - 2018-08-10
- added support for inertial commands Declination Source (0x0D, 0x43), Inclination Source (0x0D, 0x4C), and Magnetic Field Magnitude Source (0x0D, 0x4D)
43.4.1 - 2018-08-10
- support tilt mode on all G-Link-200 nodes
43.4.0 - 2018-08-10
- support for G-Link-200-8G tilt mode (get and set Sensor Output Mode)
43.3.0 - 2018-08-08
- added support for inertial config commands Gravity Magnitude (0x0D, 0x44), Magnetometer Magnitude (0x0D, 0x45), and Magnetometer Dip Angle (0x0D, 0x46) Error Adaptive Measurement
- added function to inertial features to get the adaptive measurement modes supported by the node
43.2.4 - 2018-08-08
- fix for UpnpService/WsdaFinder crashing on exit in some scenarios
43.2.3 - 2018-08-06
- corrected formatting of estimation control data
43.2.2 - 2018-08-06
- commenting updates for estimation controls
43.2.1 - 2018-08-02
- fix for .NET build issue
43.2.0 - 2018-08-02
- added MipTypes::EstimationControlOption enum to represent available options for the Heading Update Control command
- added function to MipNodeFeatures to get a list of supported estimation control options for the node (by model number)
43.1.0 - 2018-07-31
- allowing symbolic links to be passed to the Serial Connection constructors
43.0.3 - 2018-07-30
- corrected the available Heading Update Control enable options for 3DM-GX4-25 nodes
43.0.2 - 2018-07-23
- fix for .NET build issue
43.0.1 - 2018-07-23
- added function to MipNodeFeatures to get a list of supported heading update control options for the node (by model number)
43.0.0 - 2018-07-23
- CHANGED some WirelessTypes::InputRange enums
42.4.5 - 2018-07-20
- reverting to 42.4.3, previous revision needs to be significantly changed
42.4.4 - 2018-07-20
- added MipTypes::HeadingUpdateEnableOption enum to represent available options for the Heading Update Control command
- added function to MipNodeFeatures to get a list of supported heading update control options for the node (by model number)
42.4.3 - 2018-07-20
- corrected parameter names in zero update commands
42.4.2 - 2018-07-20
- corrected styling and documentation for the zero update commands
42.4.1 - 2018-07-19
- changed name of new ADC input voltage type enum to be more general
42.4.0 - 2018-07-19
- added ADC input voltage type to wireless node features
42.3.1 - 2018-07-17
- increased BaseStation timeout for websocket connection after receiving a BaseStation received response
42.3.0 - 2018-07-16
- added commands to set and read velocity and angular rate zero update