This release:

• Corrects the RTCM examples - especially the examples for the NEO-M8P
  • Previously the RTCM3 protocol was being disabled on I2C, preventing the RTCM messages from being output
  • Resolves issue #160
• Adds two new examples for the NEO-D9C QZSS-L6 correction data receiver

This release:

• Adds a new example showing how to calculate the Great Circle Distance between two points and the course (heading) from one to the other
  • Thanks! The code for distanceBetween and courseTo was taken from @mikalhart ’s TinyGPSPlus

This release:

• Corrects support for ESF MEAS sensor data on the NEO-M8U and ZED-F9R
  • The ESF MEAS message is output-only, it cannot be polled
  • This means that getEsfDataInfo and getESFMEAS were not correct - they have been deleted in this release
  • A new example shows how to access the ESF MEAS data from inside the loop
  • The example has been tested on both NEO-M8U and ZED-F9R. 400kHz I2C is required. The example uses 230400 baud to allow the Serial Monitor prints to keep up.

This release:

• Adds helper functions for HPPOSECEF - plus a new example
• Corrects support for ESF RAW IMU sensor data on the NEO-M8U and ZED-F9R
  • In #133 , we discovered that the NEO-M8U outputs the sensor data in ‘sets’ of 10 readings, whereas the ZED-F9R outputs them one at a time
  • The ESF RAW message is output-only, it cannot be polled
  • This means that getEsfRawDataInfo and getESFRAW were not correct - they have been deleted in this release
  • The UBX_ESF_RAW_data_t data type now contains an extra field numEsfRawBlocks which indicates how many sensor data blocks were received
  • On the ZED-F9R, numEsfRawBlocks will be 7: 3 * accelerometer, 3 * gyro, 1 * gyro temperature
  • On the NEO-M8U, numEsfRawBlocks will be 70. The data is all timestamped so it is possible to access all the sensor data and know when each sample was taken
  • Two new examples show how to access the ESF RAW data using a callback and from inside the loop
  • Both examples have been tested on both NEO-M8U and ZED-F9R. 400kHz I2C is required. The examples use 230400 baud to allow the Serial Monitor prints to keep up.

This release:

• Makes processRTCMframe weak, allowing it to be overwritten with custom code if required - thank you @LeeLeahy2 #147

This release:

• Adds preliminary support for the UBX-RXM-QZSSL6 correction message from the NEO-D9C - thank you @mazgch #145
• Adds auto support for UBX-NAV-EOE and UBX-NAV-TIMEUTC - thank you @rislec #144
• Corrects an error in the way fresh ESF data was requested - thank you @rislec #144
  • This may explain any stale or non-updating data returned by getSensorFusionMeasurement, getRawSensorMeasurement and getSensorFusionStatus
• Corrects an error in Example20

This release:

• Adds the struct for CFG_TMODE3 plus a matching overload of getSurveyMode

This release:

• Fixes an error in processUBXpacket which was causing the navigation frequency (measRate) to be reported incorrectly
  • The error was the root cause of the occasional divide-by-zero seen in getNavigationFrequency
  • getNavigationFrequency, getMeasurementRate and getNavigationRate have been wrong since v2.2.1… Sorry!
• Adds a new example showing how to access the callback data from the main loop

This release:

• Adds a destructor to resolve the memory leak documented in #135 - thank you @ricozinn for reporting
  • Apologies! This bug has been around for a very long time…

This release:

• Adds full auto support for NAV SVIN
• Adds CallbackExample8_NAV_SVIN
• Adds a fix for a possible divide-by-zero error in getNavigationFrequency
• Adds several housekeeping changes: update keywords.txt; correct comment cut-and-paste gremlins