v67.0.0

Useful Links

• Changelog
• Full Documentation
• Public Documentation

What's Changed

• CHANGED Fixed typo for mscl::InertialNode::setAidingMeasurementReferenceFrames()
• Updated CMake options to be project independent (prefixed with MSCL)
• Moved documentation to separate GitHub repository
• REMOVED All files that use version numbers that are now auto-generated by CMake
• REMOVED zip_win.ps1 in favor of CPack
• Updated Python3 versions to latest supported (3.9 - 3.13)
• REMOVED support for MATLAB
• Inertial
  • Added CV7-GNSS/INS support
  • Added support for MIP commands:
    • Interface Control (0x7F,0x02)
    • SPARTN Configuration (0x0E,0x20)

latest

Useful Links

• Changelog
• Full Documentation
• Public Documentation

Full Changelog: v67.0.0...latest

v66.0.0

• 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)

v65.0.0

• 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()
  • 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)
  • 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)

v64.3.0

Wireless:

• Added support for G-Link-200 6522-6001 (custom default configuration)

Inertial:

• 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

v64.2.2

Noteworthy changes since last release (v63.1.0):

Wireless:

• Added Indonesia region code for wireless devices

Inertial:

• Add model information for 3DM-CV7-AHRS (6286) and 3DM-CV7-AR (6287)
• Added aiding measurement filter supported check
• Increased timeout for MipNode::saveSettingsAsStartup() to 2500 ms
• Increased timeout for MipNode::loadFactoryDefaultSettings() to 1200 ms
• 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

v63.1.0

Noteworthy changes since last release (v62.1.2):

Wireless:

• Increased default read/write retries (readWriteRetries()) for BaseStation and WirelessNode objects (default was 0)
  • BaseStation: 2
  • WirelessNode: 3
• Update features for Torque-Link-200-3ch (6332-3350)

Inertial:

• CHANGED RTKDeviceStatusFlags to represent new bitfield format
• RENAMED previous RTKDeviceStatusFlags object to RTKDeviceStatusFlags_v1
• REMOVED unsupported MipModels::NodeModel values: node_3dm, node_fasA, node_3dm_gx2
• CHANGED MipNode::model() (RTKNode, InertialNode) now returns a MipModel object instead of MipModels::NodeModel enum value
• Added enums and functionality to represent and compare full two-part MIP device model numbers:
  • class MipModel object to represent a full model number
    • MipModel::mip_model_ constant objects that represent known models
  • enum MipModels::ModelNumber integer representation of full model numbers
  • conversion and comparison functions in MipModels class

v62.1.2

Noteworthy changes since last release (v62.0.0):

Wireless

• Add support for Torque-Link-200-3ch (s)
• Add entry for South Africa to WirelessTypes::RegionCode enum (region_southAfrica) - set available transmit powers to the same as US

Inertial

• Add merge option for factory streaming channel as enum mscl::InertialTypes::FACTORY_STREAMING_MERGE

General

• Updates python build scripts to work with less parameters and with newer boost versions

v62.0.0

Noteworthy changes since last release (v61.1.6):

Wireless

• added support for the Torque-Link-200-3ch

Inertial

• update time of week channel names from _lastValidTow to _tow for accuracy for the following fields:
  • GNSS Position Aiding Status (0x82,0x43)
  • GNSS Attitude Aiding Status (0x82,0x44)
  • Aiding Measurement Summary (0x82,0x46)
• fix InertialTypes::GnssAidingStatus enum values
  • add NO_FIX and CONFIG_ERROR entries
  • definition of status value of fields: GNSS Position Aiding Status (0x82,0x43), GNSS Attitude Aiding Status (0x82,0x44)
• fix available options for Estimation Control Flags (0x0D,0x14) config command for CV5-25 (MipNodeFeatures::supportedEstimationControlOptions())
• add ability to set lastDeviceState on MipNode objects (MipNode::setLastDeviceState())
  • Note: most users will not need this

v61.1.6

Noteworthy changes since last release (v58.0.7):

General

• added RawBytePacket parsing and collection to BaseStation, InertialNode, RTKNode classes (getRawBytePackets())

Inertial

• full support for 3DM-CL5-15, -25
• add ability to force reload device info (clearDeviceInfo())
• added support for commands:
  • Input Speed Measurement (0x0D,0x60) (sendExternalSpeedMeasurementUpdate())
  • Comm Port Speed (0x01,0x09) (setUARTBaudRate() automatically determines supported command to use)
• added support for data fields:
  • Odometer Scale Factor Error (0x82,0x47)
  • Odometer Scale Factor Error Uncertainty (0x82,0x48)
  • GNSS Dual Antenna Status (0x82,0x49)

RTK

• added support for command Activation Code (0x0F,0x07) (getActivationCode())
• 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