Spatial Reference Manual
Page 14 of 158
Version 4.4
04/06/2019
2 Firmware Changelog
Version
Date
Changes
5.4
31/05/2019
Fixed regression with integrity monitoring introduced in
version 5.2
5.3
07/05/2019
Significant improvements to step detection and stride
estimation in the Human vehicle profile
Added support for u-blox Z9P protocol changes
World magnetic model updated to WMM2015v2
Added zero angular velocity GPIO input
Improvements to water height estimation algorithm
Online odometer scaling now adjusts for up to 5% scaling
error
5.1
30/01/2017
Improvements to raw satellite data output
Improvements to GNSS hot start time
Bug fix where “GNSS Failure” could occur for 1 second
under specific satellite conditions
5.0
20/12/2016
Support added for raw satellite data output
Bug fix where hardware v2.0 could experience
accelerometer and gyroscope failure
4.5
17/10/2016
Support for hardware version 6.1 added
4.3
21/06/2016
Maximum baud rate increased to 2,000,000
1PPS output and input timing improvements
Packet timing jitter improvements
New multipath mitigation algorithm provides significant
performance improvements in poor signal areas
Bug fix for magnetometer and pressure sensor false failure
indications after saving configuration
4.2
12/04/2016
Performance improvements
Added support for GPROT and GPHEV
Added support for raw GNSS packet input
Bug fix for NMEA mode character indicating incorrectly
Bug fix for incorrectly indicated over temperature
Bug fix for RS232 electronic slew control
SBAS is now enabled by default
4.15
22/06/2015
Support for hardware version 5.1 added
4.1
22/04/2015
Support for hardware version 5.0 added
Enhanced odometer hot start dead reckoning performance
Overhauled 2D magnetic calibration algorithm offers
improved 2D magnetic calibration
Overhauled automatic magnetic calibration algorithm now
much more robust and enabled by default
Bug fix with serial port passthrough incorrect port ID
New tightly coupled heave filter operating at 1000Hz
Improved hot start performance and functionality
