Spatial Reference Manual
Page 11 of 158
Version 4.4
04/06/2019
Version
Date
Changes
Added GNSS fix status, section 13.9.1.3
Updated baud rates packet, section 13.10.3
Updated filter options packet, section 13.10.6
Updated GPIO configuration packet, section 13.10.8
Added NMEA output configuration packet, section 13.10.15
2.7
27/03/2013
Added additional magnetic information, section 10.5
Added 1PPS input, section 12.4.30
Updated detailed satellites packet, section 13.9.12
Corrected geoid height packet, section 13.9.35
2.6
29/01/2013
Added heave information, section 10.17
Added RTCM corrections packet, section 13.9.36
Added external pitot pressure packet, section 13.9.37
Added wind estimation packet, section 13.9.38
Added heave packet, section 13.9.39
Added heave configuration packet, section 13.10.14
2.5
07/12/2012
Added input voltage range to electrical specifications,
section 8.7
Added left wheel speed sensor input, section 12.4.28
Added right wheel speed sensor input, section 12.4.29
Added external time packet, section 13.9.33
Added external depth packet, section 13.9.34
Added geoid height packet, section 13.9.35
Updated GPIO functions tables, section 13.10.8
2.3
06/12/2012
Yaw terminology changed to heading for increased clarity
Reworded installation magnetics for increased clarity,
section 9.7
Reworded initialisation for increased clarity, section 10.1
Reworded operation magnetics for increased clarity,
section 10.5
Added vehicle profiles information, section 10.8
Updated NMEA output, section 12.4.7
2.2
19/11/2012
Installation magnetics changed, section 9.7
Heading source added, section 10.4
Disabling magnetometers changed, section 10.5.4
GPIO information updated, section 12.3
Added NMEA input GPGLL support, section 12.4.6
Added NMEA input GPHDT support, section 12.4.6
Added NMEA input HEHDT support, section 12.4.6
Updated NMEA output, section 12.4.7
Added RTCM corrections input, section 12.4.19
Added Trimble GNSS input, section 12.4.20
Added u-blox GNSS input, section 12.4.21
Added Hemisphere GNSS input, section 12.4.22
Updated GPIO functions tables, section 13.10.8
2.1
30/10/2012
Sensor specifications updated, section 8.3