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| # sbgECom Library version 3.1.2358-stable | ||
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| The sbgECom C library is used to configure and communicate with [SBG Systems](https://www.sbg-systems.com/) IMU, AHRS and INS.\ | ||
| This change log lists all modifications for each released sbgECom library version. | ||
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| Change log issued on: 2022-01-13 | ||
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| Copyright (C) 2022, SBG Systems SAS. All rights reserved. | ||
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| ## Summary | ||
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| The sbgECom 3.2.96-dev release adds support to latest ELLIPSE 2.3 firmware that comes with new configurations and output logs.\ | ||
| It also adds two new commands sbgEComCmdApiGet and sbgEComCmdApiPost to support the new [sbgInsRestApi](https://developer.sbg-systems.com/sbgInsRestApi/) over serial interfaces. | ||
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| A new extended sbgECom frame format has been introduced to support large payloads.\ | ||
| This new format is fully backward compatible and your code, as well as older firmware, should still work with this new sbgECom implementation. | ||
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| New tools and examples have been added to ease product evaluation and integration. | ||
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| This release also improves the overall code quality, documentation and examples. | ||
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| ## Import Highlights for this release | ||
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| Please find below, the main improvements and modifications: | ||
| - Support for latest ELLIPSE firmware | ||
| - Support for new sbgInsRestApi GET/POST commands | ||
| - New sbgEComBasicLogger tool to convert logs to CSV files | ||
| - New sbgEComApi tool to use the sbgInsRestApi from command line | ||
| - Improved sbgECom frame for large payloads | ||
| - Improved ELLIPSE on-board magnetic calibration example | ||
| - Improve code quality | ||
| - First version published on github | ||
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| ## Release - 3.1.2358-stable | ||
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| ### 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 | ||
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| ### 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 | ||
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| ### 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 | ||
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| ## Release - 2.0.4536-stable | ||
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| ### 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 | ||
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| ## Release - 1.11.920-stable | ||
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| ### 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 | ||
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| ### 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 | ||
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| ### 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 | ||
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| ## Release - 1.10.3692-stable | ||
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| ### 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 | ||
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| ### Improvements | ||
| - [SBGECOM-118] - Improved sbgEComStartFrameGeneration & sbgEComFinalizeFrameGeneration methods | ||
| - [SBGECOM-122] - Increased time out for sbgEComCmdLicenseApply to support new ELLIPSE-D internal GNSS | ||
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| ## Release - 1.9.706-stable | ||
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| ### 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 | ||
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| ### Bug Fixes | ||
| - [SBGECOM-113] - Fixed invalid SBG_ECOM_CAN_RX/TX_OK comments | ||
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| ## Release - 1.8.2916-stable | ||
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| ### 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 | ||
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| ### Improvements | ||
| - [SBGECOM-91] - Added sbgEComSetCmdTrialsAndTimeOut to setup the number of trials and default time out for commands | ||
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| ## Release - 1.7.235-stable | ||
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| ### 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) | ||
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| ### 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 | ||
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| ### Removed Features | ||
| - [SBGECOM-79] - Removed deprecated "course" from the GNSS configurable aiding sources | ||
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| ## Release - 1.5.209-stable | ||
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| ### 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) | ||
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| ### 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 | ||
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| ### 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 | ||
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| ### Removed Features | ||
| - [SBGECOM-60] - Removed Ship Motion 1,2,3 and Ship Motion HP 1,2,3 due to new deported heave concepts | ||
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| ## Release - 1.4.3239-stable | ||
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| ### 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 | ||
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| ### 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 | ||
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| ### 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 | ||
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| ## Release - 1.3 | ||
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| ### 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) | ||
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| ### 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 time stamp to the log SBG_ECOM_LOG_MAG_CALIB | ||
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| ## Release - 1.2 | ||
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| ### 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 | ||
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| ### 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 | ||
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| ### Removed Features | ||
| - [SBGECOM-11] - Removed heave status field from SBG_ECOM_LOG_STATUS log | ||
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| ## Release - 1.1 | ||
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| ### 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 | ||
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| ### 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 |
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