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@marco-tranzatto marco-tranzatto released this 24 May 10:23
· 868 commits to master since this release
v1.5.0
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Learn about vigilant mode.

Requirements: LibSBP 2.3.15 (installed automatically when running 'piksi_multi_rtk_ros/install/install.sh') and Piksi Multi Firmware v1.5.12.

New additions:

  • Support of Firmware 1.5.12 and lib SBP 2.3.15.
  • Raw IMU and magnetometer are published only if publish_raw_imu_and_mag is set to true.
  • SBAS (Satellite-based augmentation systems support wide-area or regional augmentation through the use of additional satellite-broadcast messages) support is added for SPP measurements and a specific flag is set in case this mode is active. In this case, var_spp_sbas is used to fill in messages.
  • Launch files for rover and base station are modified to allow more parameters from command line (very useful when testing multiple devices attached to the same PC).
  • New message: "DeviceMonitor_V2_3_15.msg" can be used to check temperature and voltage of the device.
  • New message: "ReceiverState_V2_3_15.msg" containes new state of the device (no major changes here).
  • New message: "TrackingState_V2_3_15.msg" containes new receiver state of the device (no major changes here).
  • New message: "Uart_State_V2_3_15.msg" can be used to check Xbee connection status. To be tests in next field test and in case it works then it can be integrated in the GUI as well.
  • GUI now has a specific color for SBAS mode and has "Age of corrections" filed in the first page, as it's quite an important value.
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