NOTE: This SDGPS release only supports operation during the following range of dates: 2019-04-07 - 2038-11-21 This is due to the choice made in resolving the 1024-week ambiguity of the GPS L1 NAV WN field.

v0.22 (Jun 9 2021)

tee - Added new node that can be used to create "branches" off the main pipeline
- Useful to run multiple solver nodes in parallel (e.g. kf2 and simple-pvt-solver)
listen-*-tcp - Fixed spurious assertion failure

v0.21 (Jun 8 2021)

main: Added --node-monitor for visualizing per-node CPU usage
plot-cooked2: Added Doppler acceleration plot
plot-observables: Added SV elevation plot

v0.20 (May 24 2021)

pretty-print node: Added --filter and --select options
set-antenna-position node: Newly added
UI enhancement: Status line is automatically truncated to terminal width to avoid artifacts
GPS_L2C GNSS: Added ionospheric model support
PPS subsystem refactoring
- PPS-related algorithms are now entirely separate from hardware drivers, so all hardware now has full support for:
  - PPS capture into an Event stream
  - PPS output with output-pps and output-receiver-pps nodes
  - VCXO disciplining with generate-vcxo-waveform, gpsdo, pll-vcxo nodes
  - System time capture into a Time stream
- Added new nodes for testing: mock-event-source, mock-pulse-output, pps-events-to-time-stream, print-time-at-event
RINEX support
- observables-to-rinex
  - Carrier phase output support is now present and enabled by default
  - Export of GPS_L2C observables is now supported
- rinex-to-observables: Progress is now displayed on status line
Plotting utilities
- plot_client2 GUI will now default to synchronizing limits of all X axes with matching labels
- plot-observables/plot-solution: Added support for input of an arbitrary reference trajectory; see new --reference-trajectory-* options
  - Appropriate reference trajectory (e.g. fixed, freefall) is auto-detected based on initial altitude
- plot-solution: Added --frame option, supporting UVW (radial/in-track/cross-track) local coordinate system
  - Appropriate coordinate system is auto-detected based on initial altitude
- plot-solution: Added RMS error annotation to plots and console output
- plot-sensors node: Now plots Time and Event streams
- plot-cooked2 node: Newly added
- plot-observables node: Added "SV count" plot
- PLOT_FILE now supports plotting from multiple nodes at once

Known issues:

On Genesys-ZU, 3rd LED from left ("Fix indication") is always unlit

v0.19 (Apr 27 2021)

acq: Added SDGPS_ACQ_THROTTLE_SVS environment variable override for threshold at which to reduce acquisition effort
- Usage example: SDGPS_ACQ_THROTTLE_SVS=20 sdgps read-raw-file capture1.raw --rate inf ! sylphase-usbgpsimu2-offline ! tracker
- Message printed: sylphase-usbgpsimu2-offline: acq: Threshold at which to reduce acquisition effort overridden from 8 to 20 by SDGPS_ACQ_THROTTLE_SVS environment variable.
plot-cooked2 node: Newly added
sylphase-usbgpsimu2-offline: Fixed CookedChecker: warning: more than half of max_stream_jitter utilized for async packet spam
sdgps main: added --log option

v0.18 (Apr 13 2021)

simulate-*: Added arguments to allow for randomly corrupting NAV bits for fuzz testing of decoders
static-kf2: Added --position-ecef argument for faster startup convergence when antenna position is known a priori

v0.17.2 (Mar 8 2021)

rinex-to-observables:
- Handle missing C/N0 observable or SIGNAL STRENGTH UNIT header by assuming a constant 40 dB-Hz
- Compute doppler from phase if D1C observable type is absent
- Allow 2-letter observation codes in order to support RINEX 3.00/3.01 files

v0.17.1 (Mar 8 2021)

Added sdgps --version option, which outputs full SDGPS version (e.g. v0.17-0-gd73e2ecb) and exits
pretty-print-json-file: Added utility to make viewing JSON files easier
simulate-observables: Output ephemeris data so that simulate-observables ! observables-to-rinex works
rinex-to-observables: Be more lenient when parsing RINEX files and give better error messages
- Immediately exit when opening a RINEX 2.xx file rather than trying to parse it as a RINEX 3.xx file
- Accept all line endings; ignore whitespace at ends of lines; ignore blank lines; ignore unknown headers
bashrc: Added [sudo][gdb]sdgps aliases to allow for tab completion while running SDGPS with elevated permissions and/or under a debugger
statlog: Added "statlog" functionality for gathering and jointly logging parameters from multiple nodes
plot-raw: Rotate PSD spectrum so that it's centered on center of passband; draw LO and band edges as vertical lines
scripts/plot_sdgps: Added Python example of utilizing output of SDGPS's PLOT_FILE= plot-to-disk functionality
sylphase-usbgpsimu2: USB reliability improvements (expected to solve remaining issues with running SDGPS in a VM)
Bugfix: Fixed acquisition performance degrading after startup on all receivers (broken since v0.16)
Bugfix: observables-to-rinex: Fixed output filename being interpreted relative to SDGPS repository root rather than working directory

v0.17 (Feb 23 2021)

rinex-to-observables and observables-to-rinex nodes: newly added; preliminary support for RINEX import/export
generate-orbital-trajectory node: newly added
print-solution-eme2000 node: newly added
Bugfix: correctly handle GPS week number having rolled over

v0.16.1 (Feb 15 2021)

README: updated to remove obsolete commands
sylphase-usbgpsimu2: reduced USB transfer overhead
plot-raw: fixed divide-by-zero crash if packet with all-zero samples arrives
scripts/run_parallel_tests*: don't run more tests in parallel than there are CPU cores

v0.16 (Feb 8 2021)

static-kf2 node: newly added
plot-sensors node: newly added
plot-cooked node: newly added
plot-solution node: newly added
scripts/analyze_solution: removed, as it's been replaced by plot-solution
fake-gnss-outage node: newly added
decoder node: added --max-unconfirmed-time option
"config provider" infrastructure: newly added; see sdgps help for config strings that can be provided to simulate-* nodes
Acquisition iteration count is now displayed in status line on all devices

v0.15 (Dec 17 2020)

Added new ImGui/ImPlot-based plot_client2, which replaces matplotlib-based plot_client
Updated magnetic model to WMM 2020
kf2 node: Fixed assertion failure on startup when used with new Infix-2 hardware
plot-observables node: Added --live option for real-time streaming plotting of observables
plot-raw node: Added --time, --histogram, and --tone options
sylphase-usbgpsimu2 nodes: Added --output-pps and --output-receiver-pps options
tracker node: When using --plot to plot live correlation waveforms, waveform is now sinc-interpolated

v0.14.2 (Oct 24 2020)

Fixes for Infix-2 support (namely, sensor axes not being rotated properly, VCXO voltage not being initialized properly)
Added --list-devices option to sylphase-usbgpsimu2 nodes

v0.14.1 (Oct 16 2020)

Fix udev rules on Ubuntu focal
Fix Python shebangs for Ubuntu focal

v0.14 (Oct 13 2020)

Include Infix-1/2 (sylphase-usbgpsimu2) support
uhd-tx node: output PPS signal on GPIO6
Ubuntu focal support added
main: added --timestamp option

v0.13 (Sep 6 2020)

Added --detrend argument to plot-observables
Cleaned up and commented the source of plot-observables

v0.12 (Sep 5 2020)

Changed plot_client dependency from GTK2 to GTK3 to fix plotting on Ubuntu Bionic
Updated doc/install_deps to include packages needed for plotting
Cleaned up README.md

v0.11 (Sep 3 2020)

Initial version