User visible changes in the firmware version 4.1.05 since version 4.1.04.

                             Highlights.

1. T3 receivers: catch exception into /log/.exception file.

2. T3 receivers: restart in a few seconds on GNSS board hang.

3. T3 receivers: prevent FTP from changing current directory.

4. T3 receivers: fix problem of log-files becoming unavailable till
   firmware restart.

5. T3 receivers: fix data drops on RS232 ports when long output
   is generated by GREIS 'print' command, e.g., by "print,/par:on".

6. RTCM3: fixed bug in encoding of 1045/1046 messages.

7. RTCM3: changed ID of NavIC S-band signal to RTCM proposed value.

8. RTCM3: implemented support for 1041 message (NavIC ephemeris).

9. DUO, QUATTRO: fixed rare exception in Galileo INAV decoder.

10. NTRIP client: fix rare exception.

11. GPS CNAV ephemeris: fixed field "NavType" for GPS IIR-M satellites
    (without L5 signal).

12. /par/raw/rinex: fixed slot ID in for single-frequency receivers.

13. RTK: fixed rare sticking to stand-alone solution.

14. DUO, QUATTRO: fixed loss of raw navigation data by means of
    collecting them from master antenna only.

15. QUATTRO: fixed coordinate system to match that in v3.7.x.

16. QUATTRO: fixed satellites status output.

17. QUATTRO: fixed detection of outliers.

18. QUATTRO: supported "HE" as NMEA HDT Talker ID.

19. QUATTRO: fixed time tag of RTK solution, number of satellites,
    reference station ID, corrections age, and HDOP fields in output
    messages (was a regression from version v3.7.x).

20. AFRM: fixed removing of oldest file on TRIUMPH3, TRE-3L/S, and
    OMEGA.

21. AFRM: respect /par/log/rot/rm/(pre,keep) parameters when removing
    files due to number of files limit.

22. QUATTRO: change tracking and positioning defaults to improve
    orientation performance.

23. T3 receivers: fix default and maximum values of
    /par/dev/pps/[a|b]/len parameters.

24. Session Programming: fix handling of "period" parameter.

25. UDP: fix permanent refusal to send data after startup with network
    not being up yet.

26. FTP server: fix occasional connection refuse soon after firmware
    restart for T3 receivers.

27. FTP server: allow "/name" and "./name" file names to mean "name"
    or a file in the (only) current directory.

28. QZSS L6: fixed no tracking after reset when only QZSS system is
    enabled.

29. TRE_3, TRE_3N, TRH_G2, TRH_G2P: fixed implementation of
    "/par/pwr/extanten" parameter that had no impact on these boards.

30. Galileo E6: fixed independent pilot-data tracking.

31. RTCM3 and other coders of RTK corrections: fixed the check of slot validity.

32. [CI] message: fixed potential bug.


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

                             1. Messages.

1.1 QUATTRO: NMEA HDT Talker ID

NMEA HDT Talker ID is set to "HE" when /par/att/mode is 1, resulting
in "$HEHDT" header being output. This is now compatible with AT4.


                             2. Parameters.

2.1 Measurements to RINEX Conversion Parameters

Name: /par/raw/rinex/SYS/SLOT
Access: r
Type: {signal_id,rinex_id,phase_offset}
Values:
where:
SYS  one of (gps,glo,gal,sbas,qzss,comp,irnss,lband)
SLOT integer 0 to 5
signal_id - name of the signal whose measurements are placed in this slot. Type: string
rinex_id - RINEX identifier of signal. Type: string[2]
phase_offset - phase offset which should be added to phase measurements provided
by receiver to get RINEX phase measurements. Type: float, [cycles].


2.2 Attitude determination parameters:

Name: /par/att/fast/out/hehdt
Access: rw
Type: on/off
Values: 0/1, on/off
Default: 0 (off)

If the value if 0 (off) the standard GP,...GQ prefix is used, if 1(on) the prefix is forced to 'HE' in case
of using Tre-Quattro receiver.

2.3 QUATTRO: change positioning and tracking defaults.

Changed default values of the following parameters:

/par/pos/sys/gal - on
/par/pos/sys/bei - on
/par/lock/elm - 20
/par/lock/sys/gal - on
/par/lock/sys/bei - on
/par/lock/sig/gps/l1c - off
/par/lock/sig/bei/l1c - off
/par/lock/sig/qzss/l1c - off
/par/lock/sig/gps/p1 - off
/par/lock/sig/gps/p2 - off
/par/lock/sig/glo/p1 - off
/par/lock/sig/glo/p2 - off


                             3. Options.

<NO CHANGES>

                             4. Commands

<NO CHANGES>

                             5. Miscellaneous

<END>
