Ekinox & Apogee Firmware

Change-log v2.0.297-stable
DocumentchangeLog_EkinoxApogee_v2.0.297-stable Support EMEA
Date Issued Jul 10, 2018 support@sbg-systems.com
+33 1 80 88 43 70
Doc. Type Firmware Change Log Americas
support@sbg-systems.com
+1 (657) 549-5807

1. Summary
SBG Systems is proud to introduce this new major firmware upgrade 2.0 for EKINOX and APOGEE Inertial
Navigation Systems products.

The 2.0 series is a complete rewrite of key components and algorithms including the Extended Kalman
Filter and Heave algorithms.

These new algorithms bring a lot of new features and performance improvements especially in difficult
environments.

A brand new and groundbreaking automatic GNSS lever arms and Dual Antenna alignment estimation tool
has been added directly from the embedded web interface.

The firmware update also focuses on reliability with a lot of bug fixes and stability improvements.

2. Import highlights from this release

● Completely redesigned Extended Kalman Filter with improved accuracy in multipath environments
● Brand new and groundbreaking automatic GNSS lever ams and alignment estimation tool
● Enhanced Inertial Navigation Solution robustness and repeatability
● Reduced initial alignment time drastically with now 100% success rate
● Completely new heave algorithms that drastically reduces out of phase waves measurements
● Refined GUI and behavior for a better user experience
● Lot of bug fixes and improvements

3. Upgrade Procedure
The upgrade process is easy, safe and straightforward however, please read carefully the following
recommendations before applying the upgrade:

● The Ekinox and Apogee need the NMEA GST frame to use an external NMEA GNSS receiver. Please
make sure the GGA, RMC, GST, HDT messages are sent at 5Hz and the ZDA at 1Hz. You can refer to the
NMEA Integration Operating Handbook for more information.
Ekinox & Apogee Series – Firmware Change Log

● Trimble GNSS binary protocol is now fully supported by the Ekinox and Apogee. Please update your
GNSS and INS configuration to use the GSOF Trimble binary protocol. You can refer to the Trimble
Integration Operating Handbook.
● Your device settings should be automatically migrated however, please review them before using the
unit for production

APOGEE-N/D Users: This new firmware package will automatically update the built in GNSS receiver
firmware to version 4.2.2. This process takes roughly 15 to 20 minutes to complete. During this
time, the device will report a CPU high usage and unusable measurements. Please let the device
powered on until the GNSS firmware update is done.

4. All updates for release 2.0.297-stable

4.1. Improvement
● [EKIFW-990] - Improved auto calibration behavior when two GNSS are used
● [EKIFW-1003] - Updated technical reference manual to version 1.3

4.2. Bug Fixes

● [EKIFW-962] - Fix invalid 3D view lever arm and orientation display for DVL
● [EKIFW-985] - Fixed invalid DVL alignment setup that wasn't correctly applied
● [EKIFW-986] - Fixed DVL rejection configuration that wasn't correctly applied
● [EKIFW-987] - Impossible to Store & Use calibration performed when only GPS2 is used
● [EKIFW-989] - Fixed GNSS True Heading rejection settings that was constantly changing when
displaying the panel
● [EKIFW-991] - Fixed DVL yaw alignment miss-configuration issues and improved performance
● [EKIFW-996] - Web: Fixed wrong GNSS lever arms help message
● [EKIFW-1002] - Fixed a synchronization error in TCP/IP stack when using UDP

5. All updates for release 2.0.276-stable

5.1. New Feature
● [EKIFW-924] - Added DOLOG HRP message
● [EKIFW-768] - Add user configurable quality indicators threshold
● [EKIFW-729] - Integrate new sbgEkf library with improved performance
● [EKIFW-728] - Integrate new sbgShipMotion library with huge performance improvements

5.2. Improvement
● [EKIFW-933] - Improved web interface log output layout
● [EKIFW-881] - Updated built in leap second value to 18s
● [EKIFW-791] - Change in the web interface the GNSS dual antenna configuration
● [EKIFW-788] - Remove validity condition for PASHR heave output

2/10
Ekinox & Apogee Series – Firmware Change Log

● [EKIFW-784] - For APOGEE-N/D, embedded GNSS receiver firmware has been updated to revision
4.2.2
● [EKIFW-191] - Add an automatic mechanical parameters calibration module
● [EKIFW-190] - sbgEkf: Add Accelerometer & Gyros gain estimation for enhanced accuracy

5.3. Bug
● [EKIFW-951] - Fixed a bug in Ethernet TCP/IP Client interfaces that could lead to crashes
● [EKIFW-932] - Fix a bug for EKINOX2 in gyroscopes scale factor / linearity compensation model
leading to reduced performance
● [EKIFW-827] - Web Interface: Fix popup message layout when rebooting device
● [EKIFW-819] - Fixed incorrect text area rendering for Firefox web browser
● [EKIFW-783] - Fix an issue making GNSS license uploading impossible for some APOGEE-N/D
● [EKIFW-680] - Fix Web Interface Information tab crash with Internet Explorer

5.4. Removed feature

● [EKIFW-771] - Removed the GNSS velocity rejection settings from web interface and settings
● [EKIFW-564] - Removed magnetometer support for Ekinox

6. All updates for release 1.5.4549-stable

6.1. Bug
● [EKIFW-783] - Fix an issue making GNSS license uploading impossible for some APOGEE-N/D
● [EKIFW-829] - Fixed RTK Heave altitude output when using output lever arm

7. All updates for release 1.5.3709-stable

7.1. Improvement
● [EKIFW-781] - Review quality threshold indicators for EKINOX2 products

7.2. Bug
● [EKIFW-761] - Fix Status Summary Clock display issue

8. All updates for release 1.5.2025-stable

8.1. New Feature
● [EKIFW-688] - Added support for new EKINOX2 hardware
● [EKIFW-683] - For Novatel GNSS, RANGECMP2 if now logged as RAW GNSS data
● [EKIFW-676] - Updated Apogee Ax4 GNSS firmware to version 4.1.4
● [EKIFW-624] - Added GPS number of SV used and diff corrections details in sbgECan protocol
● [EKIFW-600] - Added to general status tick a popup with detailed status triggered on a mouse over

3/10
Ekinox & Apogee Series – Firmware Change Log

● [EKIFW-549] - Added the total number of power on cycles

● [EKIFW-507] - Add DNS network configuration in static Ethernet mode
● [EKIFW-503] - Added the command SBG_ECOM_CMD_ETHERNET_INFO to current device IP address
● [EKIFW-502] - Added command SBG_ECOM_CMD_ETHERNET_CONF to define / retreive the Ethernet
configuration
● [EKIFW-501] - Provide a way to send and receive sbgECom configuration commands over Ethernet
● [EKIFW-500] - Provide a way to send and receive sbgECom configuration commands on serial port
● [EKIFW-498] - Add Gateway network configuration in static Ethernet mode
● [EKIFW-488] - Added SBG Proprietary NMEA message PSBGI with acceleration and angular rate
● [EKIFW-471] - Added NMEA PSBGB proprietary message
● [EKIFW-429] - Added proprietary NMEA message PASHR for roll, pitch, heading, heave
● [EKIFW-395] - Implement Kongsberg Binary 26 message output
● [EKIFW-224] - Add an indication about the total run time
● [EKIFW-223] - Add an uptime indication

8.2. Improvement
● [EKIFW-677] - Allow using Apogee embedded GNSS receiver even if the firmware couldn't be updated
● [EKIFW-614] - Better tuned alignment flag indication for Ekinox
● [EKIFW-584] - Added IMU physical measurement point selection in advanced settings
● [EKIFW-556] - Reduced GNSS related boot time for EKINOX-N & EKINOX-D
● [EKIFW-550] - Refined interfaces (serial & ETH) status mechanism and display
● [EKIFW-531] - Improved altitude outage performance for marine applications in difficult environments
● [EKIFW-519] - Now GPS mode & Dual Antenna status return the best solution from GNSS 1 and 2
modules
● [EKIFW-514] - Better check if free space if available before enabling the datalogger
● [EKIFW-493] - Better scrolling management for web interface log configuration
● [EKIFW-492] - Better UTC and GPS time management to avoid rounding issues
● [EKIFW-481] - Improved altitude performance at RTK recovery using Septentrio receivers
● [EKIFW-466] - Improved error logger buffer overflow checks

8.3. Bug
● [EKIFW-720] - Fix validity status in PHOCT message
● [EKIFW-718] - Fix invalid OEM6 product code decoding for RTK & Heading options
● [EKIFW-705] - Fixed invalid ship motion deported acceleration computation
● [EKIFW-701] - Fixed a bug that was reporting an incorrect ISU firmware when the ISU firmware was
updated
● [EKIFW-674] - Fix FTP & WebInterface crashes when a static IP address is used
● [EKIFW-671] - Fix error reporting if an invalid setting file is imported
● [EKIFW-636] - Invalid mDns name for Apogee products
● [EKIFW-598] - Fixed invalid processing of IP addresses in the Web interface
● [EKIFW-568] - Fixed wrong GPS and DVL modules initialization when interface was closed
● [EKIFW-552] - Fixed invalid SBG_ECOM_CMD_SETTINGS_ACTION behavior that was not resetting the
device with SBG_ECOM_SAVE_SETTINGS

4/10
Ekinox & Apogee Series – Firmware Change Log

● [EKIFW-480] - Fixed incompatibilities with newer Novatel protocol versions

● [EKIFW-476] - Fixed NMEA RMC date field that is not correctly formatted
● [EKIFW-436] - Fixed Ekinox & Apogee subsea 3D models that are reversed on Z axis
● [EKIFW-364] - Fixed incorrect dual antenna status summary when two GNSS are used

9. All updates for release 1.3.4569-stable

9.1. New Feature
● [EKIFW-676] - Updated Apogee Ax4 GNSS firmware to version 4.1.4

9.2. Improvement
● [EKIFW-677] - Allow using Apogee embedded GNSS receiver even if the firmware couldn't be updated

10. All updates for release 1.3.4437-stable

10.1. New Feature
● [EKIFW-488] - Added SBG Proprietary NMEA message PSBGI with acceleration and angular rate
● [EKIFW-471] - Added NMEA PSBGB proprietary message

10.2. Improvement
● [EKIFW-563] - Allow PSBGB message output for underwater motion profiles
● [EKIFW-545] - Improved IMU error model for high dynamics applications
● [EKIFW-481] - Improved altitude performance at RTK recovery using Septentrio receivers

10.3. Bug
● [EKIFW-544] - Fixed some issues during long term static initialization on Apogee
● [EKIFW-541] - Fixed unability to initialize dual antenna heading in case of NMEA GNSS + high dynamic
motion profiles
● [EKIFW-520] - Fixed regression that caused difficult dual antenna alignments
● [EKIFW-515] - Fixed a regression, NMEA like message output time field was not correctly generated
● [EKIFW-480] - Fixed incompatibilities with newer Novatel protocol versions
● [EKIFW-476] - Fixed NMEA RMC date field that is not correctly formatted

11. All updates for release 1.3.3795-stable

11.1. Improvement
● [EKIFW-434] - Update underwater motion profile for low dynamics marine applications
● [EKIFW-433] - Allow GPS lever arm estimation under lower dynamics

5/10
Ekinox & Apogee Series – Firmware Change Log

11.2. Bug
● [EKIFW-431] - Fixed incorrect GPS course rejection settings migration

12. All updates for release 1.3.3779-stable

12.1. New Feature
● [EKIFW-405] - Added NMEA GST frame support for better accuracy when using NMEA GPS
● [EKIFW-376] - Added support for new Apogee Subsea series
● [EKIFW-350] - Added UTC offset (leap seconds) configuration in the web interface
● [EKIFW-329] - Added a button to software reset the unit in the web interface
● [EKIFW-327] - Added SBG_ECAN_MSG_PRESSURE_INFO and SBG_ECAN_MSG_PRESSURE_ALTITUDE
messages
● [EKIFW-320] - Added ZUPT flag to the web interface
● [EKIFW-319] - Added monitoring point settings for CAN output
● [EKIFW-310] - Added a 3D view to review and change the device mechanical installation
● [EKIFW-298] - Added support for Apogee-D
● [EKIFW-278] - Added Post Processing Operating Handbook to web interface
● [EKIFW-277] - Added SplitBox User Manual documentation to web interface
● [EKIFW-273] - Added support for native Trimble GPS protocol and error model
● [EKIFW-267] - Added Ixblue PHOCT (TAH) output log format
● [EKIFW-266] - Added USBL protocol support for Poseidonia and Kongsberg
● [EKIFW-256] - Added parity configuration for serial ports
● [EKIFW-252] - Added IMU firmware version on the web interface information panel
● [EKIFW-250] - Added UTC offset (leap second) initial settings for better NMEA GPS support
● [EKIFW-244] - Added CPU consumption flag to the web interface
● [EKIFW-213] - Added support for post processing with external GNSS receivers
● [EKIFW-186] - Added a flag to indicate the alignment status
● [EKIFW-184] - Added differential correction age, diff base id and num sv to the
SBG_ECOM_LOG_GPS#_POS
● [EKIFW-183] - Added differential correction age, diff base id and num sv to webpage GPS status
● [EKIFW-181] - Add support for NMEA VTG output log
● [EKIFW-159] - Added support for subsea Ekinox-M and Ekinox-U
● [EKIFW-158] - Added support for RBR Concerto Depth sensors
● [EKIFW-149] - Added output NMEA log DPT for depth sensor
● [EKIFW-148] - Added ECOM_LOG_PRESSURE output log
● [EKIFW-147] - Added Depth sensors support (AML Micro.X and NMEA DPT)
● [EKIFW-127] - Added NMEA DPT output for Depth Sensor instruments
● [EKIFW-93] - Improved WebInterface version detection
● [EKIFW-90] - Add a tool to restore default settings through network or change network setup
● [EKIFW-87] - Add PD6 format support for DVL equipment
● [EKIFW-72] - Add a status that indicate if the master and rovers GPS are correctly initialized.

6/10
Ekinox & Apogee Series – Firmware Change Log

● [EKIFW-14] - Added new general main screen layout

12.2. Improvements
● [EKIFW-425] - Improved performance at RTK fix recovery
● [EKIFW-403] - Improve overall automotive performance
● [EKIFW-411] - Improved NMEA / ASCII output string generation method for float / int
● [EKIFW-406] - Improved Dual antenna heading initialization robustness
● [EKIFW-404] - Improved odometer aiding performance
● [EKIFW-378] - Apogee-N and D now correctly define the embedded receiver dynamics
● [EKIFW-377] - Improved web interface browser compatibility detection and message
● [EKIFW-371] - Improve motion profiles descriptions in the web page
● [EKIFW-370] - Disable velocity aiding in case of RTK fix
● [EKIFW-369] - Improve performance under RTK GNSS outages
● [EKIFW-367] - Added a limit to the GPS position aiding (in comparison to the EKF precision)
● [EKIFW-362] - Improved covariance matrix symmetrization method
● [EKIFW-360] - Better time stamping for Novatel true heading solution
● [EKIFW-357] - Improved GNSS antenna alignment and lever Arm estimation under low dynamics
● [EKIFW-355] - Added a check to avoid uploading too old firmware
● [EKIFW-352] - Better handling of GPS protocol when no valid Time of Week is parsed
● [EKIFW-351] - Fixed terminology in misalignment configuration page
● [EKIFW-348] - Improved accelerometer bias stability
● [EKIFW-346] - Better web interface presentation for device rough and fine alignment
● [EKIFW-336] - Increased file system time out to avoid datalogger errors
● [EKIFW-332] - Changed Sync output settings, now a frequency is used instead of a divider
● [EKIFW-330] - Now, only opened interfaces rx/tx saturation status are displayed in the web interface
status page
● [EKIFW-328] - Increased number of digits for accuracy reporting in the general view
● [EKIFW-323] - Improved EKF quality feedback
● [EKIFW-322] - Now, when the settings pane shows, it selects the latest selected tab
● [EKIFW-318] - Display only useful settings according to the selected motion profile / vehicle
● [EKIFW-311] - Now, the selected monitoring points will affect all outputs for a given output port
● [EKIFW-308] - Better expected dual antenna heading accuracy for NMEA based GNSS
● [EKIFW-307] - Secondary GNSS antenna is now configured using a lever arm instead of yaw and pitch
angles
● [EKIFW-306] - Now, the best clock source will be selected from GPS 1 or GPS 2 if GNSS clock source is
set in advanced settings
● [EKIFW-305] - Use internally an ellipsoid height instead of an MSL one
● [EKIFW-301] - Better interfaces overflow detection and handling
● [EKIFW-299] - Improved web interface display for enabled internal GNSS options
● [EKIFW-294] - Improved automotive motion profile tuning
● [EKIFW-293] - Kalman filter performance improvement and error models refining
● [EKIFW-291] - Improved heave frequency measurement performance in case of low amplitude motion
● [EKIFW-289] - Increased flash storage access speed by 50%

7/10
Ekinox & Apogee Series – Firmware Change Log

● [EKIFW-288] - Returns empty fields for NMEA logs ZDA and HDT when data are not valid
● [EKIFW-287] - Bootloader v1.3.4.0 included to better support latest generation subsea units
● [EKIFW-285] - Updated web interface framework to latest version
● [EKIFW-284] - Data output configuration web interface view optimized
● [EKIFW-283] - Improve NMEA integration under very low dynamics
● [EKIFW-279] - Increased Septentrio internal buffer size to handle large raw data logs
● [EKIFW-276] - Remove magnetometer related information from webpage for Apogee
● [EKIFW-275] - Better web interface cache mechanism to reduce loading time
● [EKIFW-271] - Changed RS-422 serial port mode to RS-422/Splitbox
● [EKIFW-269] - Remove Clock Reference GPS 2 option for Ekinox subsea M versions
● [EKIFW-268] - Now, the internal magnetometer is always enabled to ease the configuration but not
used by the unit by default
● [EKIFW-263] - Added SBAS corrections on Novatel protocol
● [EKIFW-258] - Increased raw GPS data buffer size from 2048 to 4096 bytes
● [EKIFW-251] - Improved output logs configuration
● [EKIFW-249] - Updated internal Novatel raw GNSS data rate to 1 Hz
● [EKIFW-248] - Updated internal Novatel real time solution rate to 5 Hz
● [EKIFW-245] - Modified firmware version numbering scheme
● [EKIFW-241] - Better clock estimation tuning to avoid returning to clock steering mode too easily
● [EKIFW-234] - Handle the GGA frame even if no undulation is provided
● [EKIFW-228] - Improved PPS and UTC time handling
● [EKIFW-226] - Changed clock reference default settings, new the default is to align clock on the GPS 1
● [EKIFW-225] - Changed default output log configuration on ETH0
● [EKIFW-209] - Added support for new magnetic calibration tool with enhanced accuracy
● [EKIFW-204] - Now GGA output log returns the number of SV, Diff Age and Base Station id of the GPS
receiver used for the position solution
● [EKIFW-203] - Changed GNSS Status / Type fields so the type is set to No Solution if the status isn't
SOL_COMPUTED
● [EKIFW-201] - Improved WebInterface resources consumption
● [EKIFW-198] - Updated world magnetic model to WMM2015
● [EKIFW-194] - Handle correctly new/old subsea alignment and sync in C/D conf
● [EKIFW-193] - Change auto-rejection default settings
● [EKIFW-188] - Allow output logs settings to be changed without rebooting the device
● [EKIFW-187] - Added a button to disable / enable the datalogger in the main webpage without
rebooting the device
● [EKIFW-180] - TI compiler now supports double additions & subs - Should be tested
● [EKIFW-179] - CAN SBG_ECAN_LOG_EKF_INFO message updated
● [EKIFW-170] - Added time stamp to the log SBG_ECOM_LOG_MAG_CALIB
● [EKIFW-169] - Added UTC & Clock status to the binary log SbgLogUtcData
● [EKIFW-168] - Added Solution status to the binary log SbgLogEkfEuler, SbgLogEkfQuat,
SbgLogEkfNav
● [EKIFW-166] - Changed TSS1 horizontal acceleration from sway to total acceleration (surge + sway)
● [EKIFW-163] - Data sent through UDP or TCP are assembled within one packet when possible
● [EKIFW-160] - Improved coning and sculling computations

8/10
Ekinox & Apogee Series – Firmware Change Log

● [EKIFW-157] - Improved FTP file listing for some FTP clients

● [EKIFW-156] - Improved sensors stability with better calibration computation
● [EKIFW-150] - Better handling of settings reset when the firmware is downgraded
● [EKIFW-144] - Improved Magnetic declination computation accuracy
● [EKIFW-101] - Implemented EGM96 undulation computation based on the Ekinox position

12.3. Bug fixes

● [EKIFW-426] - Fix misc information display in Trimble protocol
● [EKIFW-409] - Increased GGA altitude output digits from 3 to up to 5
● [EKIFW-381] - Fixed IP and netmask validation on the web interface
● [EKIFW-374] - CAN interface outputs break the system stability
● [EKIFW-372] - Improved handling of infinite rejection mode handling
● [EKIFW-368] - Improved reported velocity data consistence in Trimble protocol when there is no fix
● [EKIFW-353] - Fixed invalid GPS data time stamping when one GPS is providing timing data while the
second one has no fix
● [EKIFW-344] - Improved data logger to avoid missed data under high load
● [EKIFW-333] - Fixed NMEA / ASCII output frame time formating issue
● [EKIFW-313] - Improved GPS position initialization in case of long GPS lever arm
● [EKIFW-312] - Better text field validators especially when entering negative numbers
● [EKIFW-304] - Oveall improvement of the ZUPT detection
● [EKIFW-296] - Fixed improper time handling for Trimble GPS protocol
● [EKIFW-295] - Fixed incorrect user alignment computation for subsea units
● [EKIFW-292] - Fixed TCP server data output
● [EKIFW-290] - Fixed ZUPT generation that caused performance issues in marine applications
● [EKIFW-280] - Fixed cache manifest reloading issue
● [EKIFW-274] - UTC info now returns to invalid if no UTC information is received for 5 minutes
● [EKIFW-270] - Log event D and C are now correctly displayed according to subsea version
● [EKIFW-262] - Fixed incorrect output logs rate when the UTC second change is incorrectly detected
● [EKIFW-255] - Improved FTP reliability
● [EKIFW-240] - Fixed a bug for Port D and Port E when used with NMEA protocol that could lead to
dropped frames
● [EKIFW-239] - Fixed swapped Port B and Port C RS-232 / RS-422 mode selection
● [EKIFW-238] - Fixed read issues for Septentrio SBF protocol when used over Ethernet
● [EKIFW-237] - Fixed Ethernet interface that returns an error code when no more byte is available
● [EKIFW-236] - Fixed GPS 2 module alignment angle handling.
● [EKIFW-233] - Fixed a bug in Septentrio SBF protocol support when corrupted frames where received
● [EKIFW-230] - Fixed a bug that leads the Port D or Port E to stop receiving data
● [EKIFW-229] - Fixed a bug that could lead to a crash when both Port D and Port E are enabled
● [EKIFW-227] - Fixed a bug that disturbs the clock estimation during a time stamp rollover
● [EKIFW-221] - FIXED Wrong PRDID Heading output
● [EKIFW-219] - Add support for GNSS 2 raw data logging
● [EKIFW-217] - UTC info / synchro isn't working for Septentrio GNSS

9/10
Ekinox & Apogee Series – Firmware Change Log

● [EKIFW-216] - Latest logged file is still in use when the datalogger is switched off from the web
interface
● [EKIFW-212] - CLONE - FIXED incorrect time rollover handling in smart status system
● [EKIFW-207] - Check and improve solutions status
● [EKIFW-206] - Fixed invalid LLA position when overflow
● [EKIFW-202] - FIXED GPS2 HDT was not used in Kalman filter
● [EKIFW-196] - FIXED wrong negative altitude reading in NMEA protocol input
● [EKIFW-195] - Fixed bugs occurring on heavily loaded ethernet network
● [EKIFW-177] - Improved heave period computation
● [EKIFW-175] - Fine sensor to body frame alignment is now correctly applied
● [EKIFW-174] - Fixed a bug in the webserver that could stop it if corrupted data is received on port 80
● [EKIFW-173] - Fixed a bug in mDns that could lead to a crash if corrupted UDP data is received on port
5353
● [EKIFW-171] - Check utcGetSecondWillChange method to handle UTC structure lock
● [EKIFW-167] - Negative sync In delays may not be working
● [EKIFW-165] - Fixed incorrect used for solution status reporting with DVL equipments
● [EKIFW-162] - Fixed data logger issues with low data output rate
● [EKIFW-161] - Increased internal GPS startup time by 3 seconds to support latest GPS firmwares.
● [EKIFW-155] - Fixed Navigation initialization in some NMEA GPS receivers
● [EKIFW-154] - Fixed a bug where the PORT E stops working while the PORT D was enabled
● [EKIFW-146] - FIXED improper true Heading alignment when antenna mis-alignment angle is entered
● [EKIFW-145] - FIX EKF behavior when no velocity aiding input is available, but position input is
● [EKIFW-138] - Documentations list not correctly displayed if page height is not big enough
● [EKIFW-126] - Disable virtual odometer options
● [EKIFW-123] - UTC synchro now returns to false if no synchronized UTC information is received for 2s
● [EKIFW-96] - Fixed initial position control
● [EKIFW-88] - Strange and slow behavior when the datalogger is full

12.4. Removed Feature

● [EKIFW-321] - Removed GPS 1/2 course status flag from the web interface
● [EKIFW-257] - Remove PASV mode support for FTP due to stability issues
● [EKIFW-8] - Remove user aiding from the web interface and documentations

10/10