User visible changes in the firmware version 3.6.10 since version 3.6.9.

                             Highlights.

1. [Po], [Pg]: new GREIS messages to output Cartesian and geodetic
   position in specific coordinate system.

2. Turn on USB external disk support in TRE_3 and TRE_3N.

3. DUO: fix potential cause of exception in RTK.

4. Ephemeris fixed bug: lost precision of Af0 value of
   GPS CNAV, CNAV2, Galileo INAV, FNAV and BeiDou systems.

5. DUO_G3D: fixed bug when if tracking of Galileo satellites was turned
   on, number of tracked GLONASS satellites decreased on time.

6. BINEX: fixed bug of WN and TOW representation near week rollover.

7. RTCM3 ephemeris output: fixed bug caused exception in type 1044 and 1045.

8. UHF: Support HPT104BT and AW100BT modems.

9. BeiDou ephemeris: derive IODE/IODC from TOE/TOC instead of
   AODE/AODC.

10. GREIS ephemeris messages: fixed loss of ephemeris when output of
    ephemeris gathered from all available signals is enabled.

11. GREIS raw navigation data messages: fixed excessive large output
    of raw navigation data right after enabling the output.

12. GLONASS ephemeris: fixed wrong Tk in ephemeris got from RTCM3
    stream.

13. New parameter to select the source of navigation data has been added.

14. TRE_3, TRE_3N: fix permanent exception on startup when clock
    generator fails, by re-programming clock generator.

15. TRIUMPH2: support rev.9


                     More Detailed Description
                (refer to GREIS for even more details)


                             1. Messages.

1.1 [Po] Cartesian position in specific coordinate system.

struct SpecificCrtPos {32} {
  f8 x, y, z;    // Cartesian coordinates [m]
  f4 pSigma;     // Position SEP [m]
  u1 solType;    // Solution type
  u1 source;     // Source of position
  a1 crsCode[5]; // Name of coordinate reference system
  u1 cs;         // checksum
};

1.2 [Pg] Geodetic position in specific coordinate system.

struct SpecificCrtPos {36} {
  f8 lat;        // Latitude [rad]
  f8 lon;        // Longitude [rad]
  f8 alt;        // Ellipsoidal height [m]
  f4 pSigma;     // Position SEP [m]
  u1 solType;    // Solution type
  u1 source;     // Source of position
  a1 crsCode[5]; // Name of coordinate reference system
  f4 geoidSep;   // Geoid separation [m]
  u1 cs;         // checksum
};

1.3 AT4 message [AR], the rotation angles, final format

struct AR {33} {
  u4 time;       // GPS time modulo day [ms]
  f4 p,r,h;      // Pitch ,roll , heading angles [deg]
  f4 sp,sr,sh;   // Pitch, roll, heading angles rms [deg]
  u1 solType[3]; // Solution type for 3 base lines
  u1 flag;       // Validity flag
  u1 cs;         // checksum
};

                             2. Parameters.

2.1 New UHF modem parameter

Name:           /par/modem/X/uhf/link/protst/sim/snrm (X=[a...d])
Access:         rw
Type:           boolean
Values:         on,off
Default:        off
Description:    Enables/disables transmission of synchronization
                packets for Simplex Protocol. These packets are used
                to avoid possible data damages between transmitter
                and receiver.

2.2 New parameter to select the source of navigation data

Name:           /par/pos/navdata/source
Access:         rw
Type:           enumeration
Values:         off,sat,ext,any
Default:        sat
Description:    Select the source of navigation data.
                Value "off" disables all possible source of navigation data.
                Value "any" enables all possible source of navigation data.

                             3. Options.

No changes.

                             4. Commands.

No changes.

<END>
