This change log lists all modifications for each sbgECom library release.
sbgECom C library change log issued on: 2024-01-30
Copyright (C) 2024, SBG Systems SAS. All rights reserved.
The sbgECom 4.0.1987-stable is a major release that supports the latest High Performance INS firmware 5.1 and ELLIPSE firmware 2.5.
This update focuses on advanced GNSS monitoring indicators such as spoofing, jamming, etc.
Several new outputs have been added such as SBG_ECOM_LOG_EKF_ROT_ACCEL_BODY or SBG_ECOM_LOG_EKF_VELOCITY_BODY.
The sbgBasicLogger console application has been completely rewritten from scratch to offer an powerful but yet easy to use tool.
This tool is designed to easily view and convert to CSV like files data from SBG Systems INS.
The C++ 14 source code is also available to you can adapt it to your custom needs.
A lot of work has been done to cleanup several parts of the code base and offer a better experience for developers.
The backward compatibility has been kept as much as possible but please read the Migration.md file for further information.
Please find below, the main improvements and modifications:
- Support for latest firmware
- Added EFK based rotation and accelerations outputs
- Added body velocity output from the INS filter
- Added GNSS spoofing/jamming/OSNMA indicators
- Added several GNSS related monitoring data
- Completely rewritten sbgBasicLogger with a lot of new features
- General code cleanup and improvements
- 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
- 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
- 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
- SBGECOM-349 - Flagged SBG_ECOM_IMU_DATA as legacy and not to be used
- 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
- 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
- SBGECOM-316 - Fix ELLIPSE settings import that was not working
- SBGECOM-324 - Fix invalid time-out errors when calling sbgEComReceiveCmd2
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- SBGECOM-118 - Improved sbgEComStartFrameGeneration & sbgEComFinalizeFrameGeneration methods
- SBGECOM-122 - Increased time out for sbgEComCmdLicenseApply to support new ELLIPSE-D internal GNSS
- 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
- SBGECOM-113 - Fixed invalid SBG_ECOM_CAN_RX/TX_OK comments
- 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
- SBGECOM-91 - Added sbgEComSetCmdTrialsAndTimeOut to setup the number of trials and default time out for commands
- 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)
- 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
- SBGECOM-79 - Removed deprecated "course" from the GNSS configurable aiding sources
- 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)
- 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
- 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
- SBGECOM-60 - Removed Ship Motion 1,2,3 and Ship Motion HP 1,2,3 due to new deported heave concepts
- 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
- 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
- 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
- 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)
- 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 time stamp to the log SBG_ECOM_LOG_MAG_CALIB
- 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
- 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
- SBGECOM-11 - Removed heave status field from SBG_ECOM_LOG_STATUS log
- 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
- 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