This change log lists all modifications for each sbgECom library release.

sbgECom C library change log issued on: 2026-10-20
Copyright (C) 2007-2026, SBG Systems SAS. All rights reserved.

Release Summary

This release introduces a new SBG_ECOM_LOG_EKF_STATUS message, providing enhanced EKF status information, including advanced GNSS spoofing detection reporting and navigation safety indicators.

It also adds native GNSS DOP reporting and a new Python implementation for sbgECom logs and commands, extending integration capabilities.

Additional improvements include more consistent command timeout handling, faster updates of solution aiding status flags, and a new GitHub workflow for the public library.

This release maintains compatibility with High Performance INS (HPINS) firmware 6.3, ELLIPSE firmware 3.4, and IMU firmware 3.4.

Configuration & Migration

For product configuration, sbgECom should be used alongside the sbgRestApi to ensure seamless integration and optimal setup.

Backward compatibility has been maintained as much as possible; however, please review the migration.md file for further details on transitioning to this version.

Import Highlights for this release

Below are the key improvements and modifications in this release:

Addition of SBG_ECOM_LOG_EKF_STATUS with enhanced EKF status and GNSS spoofing reporting
Native GNSS DOP message support
New Python implementation for sbgECom logs and commands
Improved command timeout handling and responsiveness of solution aiding status flags
Deprecation of legacy SOLUTION_STATUS and SOLUTION_MODE fields in favor of the new EKF status message
Addition of a GitHub workflow for the public library

Release - 6.0.4661-stable

New Features

SBGECOM-600 - Add a github workflow for public library
SBGECOM-554 - Add new SBG_ECOM_LOG_EKF_STATUS with advanced spoofing reporting
SBGECOM-386 - Add native GNSS DOP message
SBGECOM-182 - Add Python implementation for sbgECom logs and commands

Improvements

SBGECOM-599 - Improve sbgEComReceiveAnyCmd2() timeout handling and normalize no-data result to SBG_TIME_OUT
SBGECOM-570 - Reduce 'used in solution' flags time out from 3s to 1s for all SBG_ECOM_LOG messages

Bug Fixes

SBGECOM-626 - sbgBasicLogger: Fix spacing of EKF nav log
SBGECOM-606 - Doc: Fix height datum indication

Removed Features

SBGECOM-632 - Doc: Remove NMEA2000 detailed messages specifications
SBGECOM-569 - Deprecate SOLUTION_STATUS and SOLUTION_MODE in LOG_EKF_EULER, LOG_EKF_QUAT, LOG_EKF_NAV, etc

Release - 5.8.876-stable

New Features

SBGECOM-560 - Add new NMEA 2000 messages

Improvements

SBGECOM-590 - Doc: Add Water Linked JSON and Serial DVL aidings
SBGECOM-585 - Add GNSS type Septentrio Mosaic G5 P3

Bug Fixes

SBGECOM-591 - Fix missing start range in dbc files
SBGECOM-587 - Doc: Fix NMEA VTG and RMC mode indicators that are not compatible with standard

Release - 5.7.626-stable

New Features

SBGECOM-572 - Add sbgECan EKF Air Data message
SBGECOM-565 - Add PTP uncalibrated and slave states

Bug Fixes

SBGECOM-580 - Doc: Fix links on external aiding section

Release - 5.6.2730-stable

New Features

SBGECOM-561 - Add new CAN log with GNSS number of reboots and up time info
SBGECOM-558 - Doc: Add depth used value in PSBGA message
SBGECOM-552 - Add a reboot counter in GNSS logs
SBGECOM-551 - Add an uptime field in GNSS logs
SBGECOM-543 - Refactor log SBG_ECOM_LOG_DEPTH
SBGECOM-531 - Add standard NMEA 2000 CAN messages

Improvements

SBGECOM-557 - Doc: Add a warning to clarify ship motion status depending on IMU reference point
SBGECOM-533 - Add QZSS signal L1 C/B

Bug Fixes

SBGECOM-564 - Doc: Add missing documentation for external aiding protocols and NMEA from GNSS
SBGECOM-547 - Doc: Fix SBG_ECOM_SOL_POS1_USED missing in SOLUTION_STATUS

Release - 5.5.2130-stable

New Features

SBGECOM-536 - Add PTNL AVR NMEA frame

Improvements

SBGECOM-525 - sbgEComProtocolPurgeIncoming: improved purge strategy on heavily loaded systems

Bug Fixes

SBGECOM-534 - Doc: Fix NMEA ZDA timezone default value

Release - 5.4.1684-stable

New Features

SBGECOM-514 - Add new CAN output message to send additionnal GNSS true heading fields
SBGECOM-510 - Add generic 3D position aiding input/output log
SBGECOM-507 - Add CAN messages for GNSS security status (interference/spoofing/OSNMA)
SBGECOM-491 - Add new North, East, Down wind speed and wind speed standard deviation output
SBGECOM-488 - Renamed SBG_ECOM_SOL_DEPTH_USED to SBG_ECOM_SOL_VERTICAL_AIDING_USED
SBGECOM-484 - Add SBG_ECOM_SOL_VEL_CONSTRAINTS_USED flag for cars and UAV applications

Improvements

SBGECOM-513 - Standardize timestamp handling when receiving aiding data in sbgECom format
SBGECOM-511 - Add air data and generic velocity EKF solution types
SBGECOM-504 - Doc: Update sbgECom IMU_STATUS_BIT definition
SBGECOM-490 - Renamed SBG_ECOM_SOL_AIR_DATA_USED to SBG_ECOM_SOL_AIRSPEED_USED

Release - 5.3.2242-stable

New Features

SBGECOM-479 - Doc: Add GSA NMEA frame
SBGECOM-478 - Add GSA, ZDA, and GST NMEA frames in direct GNSS mode
SBGECOM-476 - Implement a generic pager to handle messages split across multiple chunks
SBGECOM-467 - Add generic 3D velocity aiding input/output log
SBGECOM-464 - Add new logs for vibration analysis

Improvements

SBGECOM-465 - Add SBG_ECOM_HEAVE_ACCEL_VALID and improved ship motion doc and defines

Bug Fixes

SBGECOM-473 - Doc: Fix SBG_ECOM_LOG_GPSX_POS message payload size
SBGECOM-472 - Doc: Fix SBG_ECOM_CMD_INFO message description

Release - 5.2.590-stable

New Features

SBGECOM-451 - Add support for new Septentrio Pro+ and CLAS receivers variants
SBGECOM-455 - Update PTP message with PTP over Ethernet
SBGECOM-457 - Doc: Add Magnetic declination and inclination fields in EKF Euler and Quaternion messages
SBGECOM-458 - Doc: Add missing documentation for output message SBG_ECOM_LOG_RTCM_RAW
SBGECOM-459 - Doc: Add SBG_ECOM_LOG_SESSION_INFO output message with device info and settings

Bug Fixes

SBGECOM-452 - Doc: Fix several issues with anchors, titles and notes
SBGECOM-454 - Doc: SBG_ECOM_LOG_IMU_SHORT message ID is 22 instead of 44

Release - 5.1.708-stable

New Features

SBGECOM-433 - Added SBG_ECOM_FEATURE_IM / OSNMA to report GNSS capabilities
SBGECOM-432 - Doc: Add instruction for the magnetic factory calibration
SBGECOM-426 - Doc: Explain standard/high range scale factor for SBG_ECOM_LOG_IMU_SHORT output
SBGECOM-425 - Add SBG_ECOM_LOG_PTP_STATUS message to report PTP time offset and status
SBGECOM-423 - Returns the CPU usage in the SBG_ECOM_LOG_STATUS message
SBGECOM-422 - Logger: updated EKF euler output to use only degrees instead of radians
SBGECOM-420 - Output: Add magnetic heading/declination/inclination in EKF Euler/Quat logs
SBGECOM-419 - Add proper support for more than 200Hz output logs for ELLIPSE firmware v3
SBGECOM-414 - Add support for up to 1 kHz Sync Out events for ELLIPSE firmware v3
SBGECOM-413 - Add support for new straight GNSS NMEA outputs logs (GGA/RMC/VTG/HDT)
SBGECOM-411 - Add new motion profiles to better support new ELLIPSE firmware v3
SBGECOM-408 - Add a new sbgECom output log with advanced internal INS filter debug data
SBGECOM-407 - Add support for Nortek DVL
SBGECOM-406 - Add SBG_ECOM_SOL_ZARU_USED used in solution bitmask
SBGECOM-402 - Add a new SBG_ECOM_CLASS_LOG_ALL option to disabled/enable all outputs on an interface
SBGECOM-394 - Add SBG_ECOM_LOG_SESSION_INFO message to stream settings & device info
SBGECOM-393 - Added in SBG_ECOM_CMD_SET_MAG_CALIB a field to indicate if the magnetic calibration is 2D or 3D
SBGECOM-381 - Add a high range scale variant for IMU Short output logs

Improvements

SBGECOM-448 - Improve public CMake build process and documentation
SBGECOM-431 - New sbgEComMinimal example that supports all Serial and Ethernet devices
SBGECOM-429 - Doc: Improved Ship Motion description about output monitoring points
SBGECOM-428 - Doc: Completly reworked documentation with built-in firmware reference manual
SBGECOM-427 - Improved overall doxygen code base documentation
SBGECOM-424 - Updated unix serial interface to report error with SBG_LOG_XXXXX macros
SBGECOM-404 - Doc: Add sbgECom verion to the online URL documentation
SBGECOM-399 - Add new error models for external sbgECom protocol magnetometers support
SBGECOM-305 - Improved documentation for extended sbgECom frame definition

Bug Fixes

SBGECOM-439 - Fix typo for SGB_CALIB_MAG_NOT_ENOUGH_POINTS
SBGECOM-409 - sbgBasicLogger: Fixed erroneous output times for utcIso8601 mode
SBGECOM-405 - CAN: Fix depth and air data airspeed logs types from integers to float values
SBGECOM-398 - Removed unused SBG_ECOM_SYNC_OUT_MODE_EVENT_IN_# definitions
SBGECOM-391 - sbgBasicLogger: Fixed invalid GNSS#_HDT output for numSvTracked, numSvUsed fields

Removed Features

SBGECOM-430 - Magnetometer: Remove robust magnetic model (not relevant anymore)
SBGECOM-410 - Doc: Indicate all 'preciseInstallation' fields to be deprecated

Release - 4.0.1987-stable

New Features

SBGECOM-346 - Add spoofing, jamming and OSNMA status in SBG_ECOM_LOG_GPS#_POS
SBGECOM-347 - Add in SBG_ECOM_LOG_GPS#_HDT number of SV tracked and used
SBGECOM-364 - Add an option to change UDP connected/unconnected behavior
SBGECOM-237 - Add callback to retrieve complete raw sbgECom frames on reception
SBGECOM-330 - Add Ethernet Tx and Rx status flags in SBG_ECOM_LOG_STATUS message
SBGECOM-341 - sbgBasicLogger: Rewritten from scratch using C++ 14
SBGECOM-342 - sbgBasicLogger: Export RTCM raw stream to a binary file that can be used for post processing
SBGECOM-351 - Add numSvTracked in SBG_ECOM_LOG_GPS#_POS message
SBGECOM-352 - BasicLogger: Add new outputs on SBG_ECOM_LOG_GPS#_XXXX logs
SBGECOM-363 - sbgEComApi: Add Ethernet UDP interface support
SBGECOM-365 - Added to SBG_ECOM_LOG_UTC_TIME internal clock quality indicators
SBGECOM-368 - Add new SBG_ECOM_LOG_EKF_ROT_ACCEL_BODY message
SBGECOM-369 - Add new SBG_ECOM_LOG_EKF_VELOCITY_BODY message
SBGECOM-370 - Add new SBG_ECOM_LOG_EKF_ROT_ACCEL_NED message

Improvements

SBGECOM-308 - Add support for clang enhanced compiler
SBGECOM-337 - Improve on board magnetic calibration example to save to FLASH memory
SBGECOM-338 - Improved SBG_ECOM_LOG_GPS#_VEL velocity standard deviation documentation
SBGECOM-343 - sbgBasicLogger: Export GNSS raw stream to a binary file that can be used for post processing
SBGECOM-344 - sbgBasicLogger: Added new option to export logs using UTC time
SBGECOM-345 - sbgBasicLogger: Added a new option to skip logs until the INS has a valid UTC time
SBGECOM-350 - Report unavailable numSvUsed in SBG_ECOM_LOG_GPS#_POS with 0xFF value
SBGECOM-357 - Improved sbgECom log file naming and methods conventions
SBGECOM-358 - Updated migration documentation from sbgECom 3 to 4
SBGECOM-361 - Improved sbgEComLogUtc enums/definitions/setters/getters naming
SBGECOM-366 - sbgBasicLogger: Add an option to output status using decimal or hexadecimal representation
SBGECOM-380 - Reduce stack usage for some sbgECom commands
SBGECOM-367 - Improved sbgEComCmdOutput##### documentation
SBGECOM-403 - Replaced FUNCTION macro with standard C99 func variable

Bug Fixes

SBGECOM-383 - Updated CMD_API_GET ID (46) to (48) to fix conflict with CMD_GNSS_1_INSTALLATION (46)
SBGECOM-359 - Fixed incompatible deprecated typedef with opencv such as uint64
SBGECOM-401 - Fixed invalid sleep usage in sbgEComReceiveCmd2 method
SBGECOM-339 - Relaxed Cmake version requirements to 3.16 to support Ubuntu 20.04
SBGECOM-340 - Fixed SyncOut direct PPS comment in sbgEComCmdEvent.h

Removed feature

SBGECOM-349 - Flagged SBG_ECOM_IMU_DATA as legacy and not to be used

Release - 3.2.4011-stable

New Features

SBGECOM-306 - Added built in CHANGELOG file in the repository
SBGECOM-307 - Add support for event markers in sbgBasicLogger
SBGECOM-309 - Add SBG_ECOM_LOG_GPS#_SAT message containing satellite information
SBGECOM-310 - Add NMEA message GPROT
SBGECOM-312 - sbgBasicLogger: handle sbgEComLogSat messages
SBGECOM-313 - Added a static motion profile for 27/7 operations on ELLIPSE
SBGECOM-314 - Added pedestrian motion profile that uses foot odometer
SBGECOM-317 - Added search capabilities for Doxygen documentation
SBGECOM-319 - Add support for the Teledyne Wayfinder DVL protocol
SBGECOM-323 - Add a new PSBGA NMEA message that output the INS attitude
SBGECOM-326 - Add NMEA GSV output message with satellite in view information
SBGECOM-327 - Added L-Band support for GNSS receiver channel reporting

Improvements

SBGECOM-311 - Improve public CMakeLists
SBGECOM-315 - Enable sbgEComApi users to provide command execution parameters
SBGECOM-322 - Added Truck and Railway motion profiles
SBGECOM-325 - sbgBasicLogger: Improve project code and build script for code source public release
SBGECOM-328 - Improved doxygen documentation

Bug Fixes

SBGECOM-316 - Fix ELLIPSE settings import that was not working
SBGECOM-324 - Fix invalid time-out errors when calling sbgEComReceiveCmd2

Release - 3.1.2358-stable

New Features

SBGECOM-225 - Added KMB binary sensor output log for High Performance INS
SBGECOM-226 - Add a new log SBG_ECOM_LOG_RTCM_STREAM
SBGECOM-228 - Add new commands to implement GET/POST over sbgECom protocol
SBGECOM-229 - Now ELLIPSE-N and D can accept RTCM corrections over Port A
SBGECOM-231 - Add support for NMEA PPS frames
SBGECOM-253 - Add specific NMEA like output log WASSP
SBGECOM-279 - Add in SBG_ECOM_CMD_ADVANCED_CONF a GNSS option bitmask
SBGECOM-281 - Add a new sbgBasicLogger command line tool
SBGECOM-282 - Add a sbgEComApi CLI tool to access sbgInsRestApi over sbgECom
SBGECOM-283 - Add a minimal sbgECom example for PULSE IMU
SBGECOM-285 - Add in SBG_ECOM_CMD_ADVANCED_CONF an option to always output time in NMEA messages
SBGECOM-286 - Add in SBG_ECOM_CMD_ADVANCED_CONF an option select standard or extended NMEA mode

Improvements

SBGECOM-181 - Reduce stack usage and use new sbgEComReceiveCmd2
SBGECOM-220 - Updated license to MIT
SBGECOM-232 - Updated protocol to support large transfer using multiple pages
SBGECOM-287 - Updated sbgEComSetReceiveLogCallback to remove the unused SbgErrorCode return
SBGECOM-301 - Improved ELLIPSE onboard magnetic calibration code example
SBGECOM-302 - Added new sbgEComPurgeIncoming method to discard rx data
SBGECOM-303 - Improved examples, they now use simple CLI arguments

Bug Fixes

SBGECOM-265 - Add missing 25ms period to output log message definitions
SBGECOM-267 - Add missing 40ms period to output log message definitions
SBGECOM-284 - Receive a command must not be blocking when timeout = 0
SBGECOM-289 - Fix SBG_ECAN_MSG_GPS#_ALT NUM_SV & DIFF_CORR DBC/DBF definitions

Release - 2.0.4536-stable

New Features

SBGECOM-180 - Added NMEA GGK message output
SBGECOM-191 - Added in SBG_ECOM_LOG_GPS#_POS status report for all GNSS constellations
SBGECOM-194 - Add specific SBG_ECOM_THIRD_PARTY_ADA_01 output log
SBGECOM-208 - Added a README.md file with migration guidelines
SBGECOM-216 - Add Cobham SBG_ECOM_THIRD_PARTY_AT_ITINS output log support
SBGECOM-219 - Added CAN dbc and BusMaster definitions in sbgECom project

Improvements

SBGECOM-188 - Updated SBG_ECAN_MSG_ODO_VELOCITY from float field to integers
SBGECOM-196 - Added status field for SBG_ECAN_MSG_AUTO_TRACK_SLIP_CURV (0x220) message
SBGECOM-199 - Simplified SbgEComGnssModelsStdIds enum for ELLIPSE-N and ELLIPSE-D
SBGECOM-204 - Renamed SBG_ECOM_GNSS_MODEL_UBLOX_GPS_GLONASS to SBG_ECOM_GNSS_MODEL_INTERNAL
SBGECOM-207 - Reworked motion profile / aiding equipments errors models set/get API (removed SbgEComModelInfo)
SBGECOM-209 - Reworked and simplified GNSS model ids to comply with sbgECom 2.x
SBGECOM-212 - Added in SBG_ECOM_CMD_FEATURES gnss firmware version field

Removed Features

SBGECOM-200 - Removed SBG_ECOM_GNSS_MODEL_UBLOX_HIGH_DYNAMICS, use SBG_ECOM_GNSS_MODEL_INTERNAL instead
SBGECOM-201 - Removed SBG_ECOM_GNSS_MODEL_ELLIPSE_D_INTERNAL, use SBG_ECOM_GNSS_MODEL_INTERNAL instead
SBGECOM-202 - Removed SBG_ECOM_GNSS_MODEL_UBLOX_HIGH_SPEED, use SBG_ECOM_GNSS_MODEL_INTERNAL instead
SBGECOM-203 - Removed SBG_ECOM_GNSS_MODEL_UBLOX_LOW_SPEED, use SBG_ECOM_GNSS_MODEL_INTERNAL instead
SBGECOM-206 - Removed deprecated methods sbgEComCmdGnss1GetLeverArmAlignment & sbgEComCmdGnss1SetLeverArmAlignment
SBGECOM-211 - Removed legacy IG-500 protocol support

Release - 1.11.920-stable

New Features

SBGECOM-123 - Implement DVL aiding configuration SBG_ECOM_CMD_DVL_####
SBGECOM-126 - Implement AirData aiding configuration SBG_ECOM_CMD_AIRDATA_####
SBGECOM-135 - Add configuration commands for CAN odometer support
SBGECOM-136 - Add sbgECom Log Event Output useful for virtual odometer
SBGECOM-137 - Add SBG_ECOM_LOG_DEPTH / SBG_ECAN_MSG_DEPTH_INFO/ALTITUDE output logs
SBGECOM-140 - Updated SBG_ECOM_CMD_AIDING_ASSIGNMENT command for AirData support
SBGECOM-141 - Add airDataInput demo project to show external sbgECom AirData aiding
SBGECOM-142 - Updated SBG_ECOM_LOG_PRESSURE to SBG_ECOM_LOG_AIR_DATA with airspeed
SBGECOM-143 - Updated SBG_ECAN_MSG_PRESSURE to SBG_ECAN_MSG_AIR_DATA with airspeed
SBGECOM-156 - Add baseline length field in SBG_ECOM_LOG_GPS#_HDT log
SBGECOM-162 - Add SBG_ECOM_LOG_DIAG message to send text
SBGECOM-163 - Add CAN output message with vehicle body velocity
SBGECOM-164 - Add CAN output message with track, slip and curvature indications
SBGECOM-168 - Add INDYN NMEA like message output for marine applications
SBGECOM-170 - Add SBG_ECOM_CMD_GNSS_1_INSTALLATION command to set/get GNSS lever arm
SBGECOM-173 - Add compatibility support Crossbow AHRS500 series
SBGECOM-174 - Basic Logger: Add support for error log messages
SBGECOM-175 - Basic Logger: Add support for UDP interfaces

Improvements

SBGECOM-132 - Updated SBG_ECOM_CMD_AIDING_ASSIGNMENT command for DVL support
SBGECOM-133 - Renamed DVL standard deviation as quality indicator in DVL log structure
SBGECOM-144 - Converted SBG_ECOM_AIDING_EM_LOG_RECV to SBG_ECOM_AIDING_DEPTH_RECV
SBGECOM-145 - Renamed SBG_ECOM_AIDING_PRESSURE_RECV to SBG_ECOM_AIDING_AIR_DATA_RECV
SBGECOM-146 - Renamed SBG_ECOM_SOL_PRESSURE_USED to SBG_ECOM_SOL_AIR_DATA_USED
SBGECOM-147 - Added SBG_ECOM_SOL_DEPTH_USED in EKF solution status
SBGECOM-165 - Updated CAN log default IDs for Ship Motion HP from 0x210 to 0x14A
SBGECOM-169 - Updated SBG_ECOM_THIRD_PARTY_IXBLUE_XXX logs to comply with naming conventions
SBGECOM-176 - Minor code cleanup and removed useless defines
SBGECOM-177 - Updated all C types to use standard ones uint32 -> uint32_t
SBGECOM-178 - Updated common lib code with improved organization

Removed Features

SBGECOM-100 - Removed deprecated sbgEComSetReceiveCallback method
SBGECOM-101 - Removed deprecated sbgEComCmdGnss1SetModel method
SBGECOM-102 - Removed deprecated sbgEComCmdSensorSetMotionProfile method
SBGECOM-103 - Removed deprecated sbgEComCmdMagSetModel method
SBGECOM-171 - SBG_ECOM_CMD_GNSS_1_LEVER_ARM_ALIGNMENT deprecated and replaced by SBG_ECOM_CMD_GNSS_1_INSTALLATION

Release - 1.10.3692-stable

New Features

SBGECOM-115 - Add Septentrio Internal GNSS model for new Ellipse D
SBGECOM-117 - Added getters for delta a angle / velocity / temperature for IMU Short log
SBGECOM-119 - Added new Swell Mode Ship Motion status flags

Improvements

SBGECOM-118 - Improved sbgEComStartFrameGeneration & sbgEComFinalizeFrameGeneration methods
SBGECOM-122 - Increased time out for sbgEComCmdLicenseApply to support new ELLIPSE-D internal GNSS

Release - 1.9.706-stable

New Features

SBGECOM-110 - Added DOLOG HRP proprietary message
SBGECOM-111 - Added a new short IMU log message also used for post processing
SBGECOM-112 - Add a heavy machinery motion profile definition for Ellipse series

Bug Fixes

SBGECOM-113 - Fixed invalid SBG_ECOM_CAN_RX/TX_OK comments

Release - 1.8.2916-stable

New Features

SBGECOM-95 - Added GPS number of SV used and diff corrections details in sbgECan protocol
SBGECOM-105 - Add compatibility with SBG_ECOM_CMD_VALIDITY_THRESHOLDS command
SBGECOM-108 - Added support for aiding assignment on Port E for ELLIPSE-E and N

Improvements

SBGECOM-91 - Added sbgEComSetCmdTrialsAndTimeOut to setup the number of trials and default time out for commands

Release - 1.7.235-stable

New Features

SBGECOM-89 - Implement Kongsberg Binary 26 message output
SBGECOM-87 - Add an uptime indication in SBG_ECOM_LOG_STATUS
SBGECOM-86 - Added the command SBG_ECOM_CMD_ETHERNET_INFO to current device IP address
SBGECOM-85 - Added command SBG_ECOM_CMD_ETHERNET_CONF to define / retrieve the Ethernet configuration
SBGECOM-77 - Add new output log class for NMEA proprietary messages
SBGECOM-75 - Added UAV motion profile definition (for low dynamic rotary wing UAV applications)

Improvements

SBGECOM-83 - Better use of size_t type instead of uint32 to comply with C standard and 64 bit platforms
SBGECOM-84 - Updated sbgCommonLib to latest revision

Removed Features

SBGECOM-79 - Removed deprecated "course" from the GNSS configurable aiding sources

Release - 1.5.209-stable

New Features

SBGECOM-72 - Added proprietary NMEA message PASHR for roll, pitch, heading, heave
SBGECOM-70 - Added SBG Proprietary NMEA message with acceleration and angular rate
SBGECOM-68 - Added SBG_ECOM_OUTPUT_MODE_DIV_5 flag for 40 Hz output
SBGECOM-66 - Added SBG_ECOM_GENERAL_CPU_OK status flag
SBGECOM-65 - Added sbgEComHandleOneLog method to return even if more logs are available
SBGECOM-64 - Added sbgEComSendAck method
SBGECOM-62 - Added sbgEComStartFrameGeneration and sbgEComFinalizeFrameGeneration methods
SBGECOM-59 - Added sbgECom log generation code
SBGECOM-57 - Added SBG_ECOM_LOG_FAST_IMU_DATA message definition
SBGECOM-40 - Added KVH third party output format id (SBG_ECOM_THIRD_PARTY_KVH)

Improvements

SBGECOM-74 - Switched unix projects to CMake
SBGECOM-73 - Added examples into the sbgECom
SBGECOM-63 - Updated sbgCommonLib to latest revision
SBGECOM-61 - Use stream buffer instead of basic buffer for sbgECom log parsing
SBGECOM-51 - Added SBF (Septentrio) protocol support on Ellipse-E
SBGECOM-50 - Added direct PPS from internal GNSS Sync Output (SBG_ECOM_CMD_SYNC_OUT_CONF)
SBGECOM-47 - Made the sbgECom 64 bit compatible
SBGECOM-46 - Switched project files to Visual Studio 2013
SBGECOM-45 - Added a new callback method (sbgEComSetReceiveLogCallback) and deprecated the old one (sbgEComSetReceiveCallback)
SBGECOM-42 - Improved handling of MSG and CLASS fields in low level protocol functions

Bug Fixes

SBGECOM-71 - Fixed sbgEComCmdGetInfo incorrect error code return when an invalid payload is received
SBGECOM-44 - Fixed Various incompatibilities in Big Endian platforms
SBGECOM-43 - Added output of NACK reasons in sbgECom configuration commands using the return code

Removed Features

SBGECOM-60 - Removed Ship Motion 1,2,3 and Ship Motion HP 1,2,3 due to new deported heave concepts

Release - 1.4.3239-stable

New Features

SBGECOM-28 - Added differential correction age, diff base id and num sv to the SBG_ECOM_LOG_GPS#_POS
SBGECOM-29 - Added GNSS raw data log for the second GNSS receiver
SBGECOM-30 - Added official support for Ellipse additional output interfaces PORT C and PORT E
SBGECOM-33 - Added big/little endian support for stream buffer
SBGECOM-34 - Added sbgPlatform.h file to setup platform specific configuration such as endianness

Improvements

SBGECOM-7 - Added support for both little and big endian platforms
SBGECOM-32 - Improved stream buffer error handling
SBGECOM-36 - Improved File naming and overall library organization
SBGECOM-37 - Modified firmware and software version numbering scheme
SBGECOM-38 - Increased raw GPS data buffer size from 2048 to 4096 bytes

Bug Fixes

SBGECOM-21 - Fixed SBG_ECOM_ETH#_RX_OK and SBG_ECOM_ETH#_TX_OK status definitions
SBGECOM-27 - Changed sbgEComHandle behavior so the error returned by receive call back is taken into account
SBGECOM-35 - Fixed improper comments in some configuration structures

Release - 1.3

New Features

SBGECOM-10 - Added sbgInterfaceChangeBaudrate for both windows and unix platforms
SBGECOM-19 - Added SBG_ECOM_LOG_PRESSURE log for depth sensors and altimeters
SBGECOM-25 - Added support for Ellipse series
SBGECOM-26 - Added SBG_ECOM_LOG_USBL log for USBL aiding equipments (beta)

Improvements

SBGECOM-18 - Fixed Typos in GPS pos, Vel and Hdt Fix Status
SBGECOM-20 - Better error checking for sbgStreamBuffer with new method sbgStreamBufferGetLastError
SBGECOM-22 - Added UTC & Clock status to the binary log SbgLogUtcData
SBGECOM-23 - Added Solution status to the binary log SbgLogEkfEuler, SbgLogEkfQuat, SbgLogEkfNav
SBGECOM-24 - Added timestamp to the log SBG_ECOM_LOG_MAG_CALIB

Release - 1.2

New Features

SBGECOM-14 - Added SBG_ECOM_LOG_SHIP_MOTION_HP logs for delayed heave output
SBGECOM-15 - Added sbgInterfaceSerialChangeBaudrate method to change the serial interface baud rate
SBGECOM-17 - Added SBG_ECOM_POS_FIXED / SBG_ECAN_POS_FIXED position type for GPS

Improvements

SBGECOM-13 - Updated SBG_ECOM_LOG_SHIP_MOTION_XXX logs to add velocity and status data
SBGECOM-16 - Changed GPS OmniStar solution type to PPP ones for better compatibility with third party GPS

Removed Features

SBGECOM-11 - Removed heave status field from SBG_ECOM_LOG_STATUS log

Release - 1.1

New Features

SBGECOM-1 - Added output log for DVL support
SBGECOM-3 - Added output for GPS 1 raw data in order to support post processing
SBGECOM-4 - Added event markers logs support
SBGECOM-6 - Added Unix support and build script
SBGECOM-8 - Added sbgEComReceiveAnyCmd method that return any received command that is not an output log
SBGECOM-9 - Added settings import and export command

Improvements

SBGECOM-2 - Added pitch information in the SbgLogGpsHdt GPS true heading log
SBGECOM-5 - Now sbgEComProtocolReceive method returns the received command even if the CRC is not valid