Version history:

2.0
---

- fixed stack overflow causing hang when logging is enabled

1.9
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- resolved time wraparound problem causing GPS data to freeze if Quantum is running at midnight GMT

- slowed down green LED flash rates; faster flash still means GPS locked, slower flash still means GPS searching

- added battery voltage to MQQTM message

- added GPSModule config parameter

- added support for SkyTraq Venus GPS module

- improved Timer0 correction


1.8
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- resolve bug in digit count routine causing null ms field in MQGGG when ms value was large, also causing
LatG to become LongG, LongG to become VertG, VertG to become RollRate, RollRate to become PitchRate,
PitchRate to become YawRate, and YawRate to be fixed at 0.

- new MQQTM sentence is now the default sentence emitted instead of MQGGA, MQGGG, and MQVTG

- when equipped with a yaw rate sensor, Latitude, Longitude, and Track Made Good accuracy is improved,
especially in situations where these values drift due to satellite obstruction (bridges, foliage)

- Heading, Roll, and Pitch calculations are now performed within the Quantum for increased reliability


1.7
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- fixed random hang while logging issue

- fixed memory card corruption issue

- fixed multiple file create with same name issue

- Please note that each time the firmware is updated, when the FW.SFE file is automatically deleted after
the update, this creates approximately 115K of lost clusters.  Normally the existence of these lost
clusters does no harm and is invisible to the user.  To remove them, use the CHKDSK /F command from the
Windows command line.

- If it is necessary to reformat the memory card while it is inserted in the Quantum, use FORMAT /Q.

- fixed GMT time adjustment based on HoursAheadOfGMT

- module precapture buffer cleared after closing log file to prevent extraneous data from appearing
at the beginning of the next file

- FRT now turns on when speed >= FRTStartSpeedKPH, turns off (after delay) when speed <= FRTStopSpeedKPH

1.6
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- resolved LatG underestimation when MotionModel is Motorcycle

- added FIR filter on accelerometer channels based on MotionModel

- added GPS age check; HDOP reported as 5.0 when no data has been received from GPS in more than 0.5 s

- added additional check on GPS Speed (if last five readings are the same and the speed is slow, set zero speed)

- GPSPowerSaveMode is now 0 by default

- Bluetooth inquiry and page window changes to save power have been disabled

- enabled angular rate sensor support, added EnableGyro flag, expanded MQGGG sentence, added NullGyroOnStartup flag

- now using yaw rate, speed, and GPS-based lean angle to calculate lateral acceleration when MotionModel is motorcycle

- avoid indefinite block on serial1 TX, reset serial1 if blocked

- PVS FIFO

1.5
---

- unreleased

1.4
---

- corrected firmware version number

- added BTFactoryDefaults flag

1.3
---

- added MotionModel configuration parameter to handle different motion models for different vehicles

- ignore lateral g sensor when MotionModel is motorcycle (use GPS for LatG)

- increased accelerometer output data rate to 400 Hz

- increased primary accelerometer sample rate to 200 Hz and added additional low pass filtering
on accelerometer values to eliminate noise due to vibration e.g. as experienced on a two-cylinder motorcycle


1.2
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- more aggressive zero speed detection at low speeds and low accelerations

- Kalman filter tweaks to improve straight line speed estimation (more weighting on GPS)

- Device name now used as basis for Bluetooth friendly name

- Bluetooth friendly name is now serialized

- log file name now includes seconds HHMMSS

- two second delay after closing a log file

- GPS power save mode, enabled by default, disabled when configuration file specifies "GPSPowerSaveMode,0"

- Bluetooth power savings by adjusting inquiry and page windows

- firmware version is now written to the config file as e.g. FirmwareVersion,12

- road grade detection/correction

- force BT reboot on disconnect

- added PassthroughGGA and PassthroughVTG config flags


1.1
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- MQGGA satellite count is 20+N by default (PassSatelliteCountInMQGGA)

- other changes

1.0
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- original release