Skip to content

Latest commit

 

History

History
43 lines (33 loc) · 4.24 KB

migrations.md

File metadata and controls

43 lines (33 loc) · 4.24 KB

Migrations

These pages help you easily migrate your code from previous sbgECom major versions.

From sbgECom v1.x

The sbgECom version 2.x change the C API even if the low level sbgECom protocol API remains backward compatible.
In otherwords, a C code written with sbgECom version 1.x will not compile directly with sbgECom versions 2.x and higher.
But your old C code using sbgECom versions 1.x will still be able to correctly setup and configure your ELLIPSE product.

GNSS module

The SbgEComGnssModelsStdIds enum has been simplified and now ELLIPSE-N and ELLIPSE-D should only use SBG_ECOM_GNSS_MODEL_INTERNAL to select the internal GNSS receiver.
The only exception is for ELLIPSE-N hardware revision 1 & 2 as the ublox Max M8 has two modes of operations, either GPS+GLONASS or GPS+BeiDou.
The default GPS+GLONASS mode is selected with the SBG_ECOM_GNSS_MODEL_INTERNAL model and the GPS+BeiDou one with SBG_ECOM_GNSS_MODEL_UBLOX_GPS_BEIDOU.
The SBG_ECOM_GNSS_MODEL_UBLOX_GPS_BEIDOU model couldn't be used with ELLIPSE-N with hardware revision 3.x or ELLIPSE-D as the GNSS receiver is tracking GPS+GLONASS+BeiDou+Galileo concurrently.

The table below helps you update your enums to sbgECom v2 correctly:

sbgECom 1.x sbgECom 2.x Remarks
SBG_ECOM_GNSS_MODEL_UBLOX_GPS_GLONASS SBG_ECOM_GNSS_MODEL_INTERNAL To use for ELLIPSE-N and ELLIPSE-D
SBG_ECOM_GNSS_MODEL_NMEA SBG_ECOM_GNSS_MODEL_NMEA ELLIPSE-E, external NMEA receiver (listen only)
SBG_ECOM_GNSS_MODEL_UBLOX_GPS_BEIDOU SBG_ECOM_GNSS_MODEL_UBLOX_GPS_BEIDOU Can only be selected on ELLIPSE-N revision 1 & 2
SBG_ECOM_GNSS_MODEL_UBLOX_EXTERNAL SBG_ECOM_GNSS_MODEL_UBLOX_EXTERNAL ELLIPSE-E, external ublox receiver (listen only)
SBG_ECOM_GNSS_MODEL_UBLOX_HIGH_DYNAMICS SBG_ECOM_GNSS_MODEL_INTERNAL For high dynamics applications, please selected the appropriate motion profile
SBG_ECOM_GNSS_MODEL_NOVATEL_EXTERNAL SBG_ECOM_GNSS_MODEL_NOVATEL_EXTERNAL ELLIPSE-E, external Novatel receiver (listen only)
SBG_ECOM_GNSS_MODEL_ELLIPSE_D_INTERNAL SBG_ECOM_GNSS_MODEL_INTERNAL Legacy ELLIPSE-D hardware 1 & 2, don't use it anymore
SBG_ECOM_GNSS_MODEL_UBLOX_HIGH_SPEED SBG_ECOM_GNSS_MODEL_INTERNAL For high speed applications, please selected the appropriate motion profile
SBG_ECOM_GNSS_MODEL_SEPTENTRIO_EXTERNAL SBG_ECOM_GNSS_MODEL_SEPTENTRIO_EXTERNAL ELLIPSE-E, external Septentrio receiver (listen only)
SBG_ECOM_GNSS_MODEL_UBLOX_LOW_SPEED SBG_ECOM_GNSS_MODEL_INTERNAL For low dynamics applications, please selected the appropriate motion profile

Please also update your code according to the following recommendations and modifications:

  • sbgEComCmdGnss1GetModelInfo method has been replaced by sbgEComCmdGnss1GetModelId with a simpler interface as the version field is no more used in ELLIPSE firmware.
  • sbgEComCmdGnss1GetLeverArmAlignment and sbgEComCmdGnss1SetLeverArmAlignment methods have been suppressed by sbgEComCmdGnss1InstallationGet and sbgEComCmdGnss1InstallationSet methods.

Magnetometers module

The method sbgEComCmdMagGetModelInfo has been replaced by sbgEComCmdMagGetModelId with a simpler interface as the version field is no more used in ELLIPSE firmware.

Sensor module

The method sbgEComCmdSensorGetMotionProfileInfo has been replaced by sbgEComCmdSensorGetMotionProfileId with a simpler interface as the version field is no more used in ELLIPSE firmware.

Legacy IG-500 sbgCom

sbgECom version 2.x drop the legacy IG-500 support so the methods sbgEComCmdOutputGetLegacyConf and sbgEComCmdOutputSetLegacyConf are removed. Please update your code to use sbgECom protocol instead.