Release Notes¶

This document contains the version history and release notes for the RTK Base firmware.

Version 4.0.2 (Latest)¶

Release Date: March 2025

Bug Fixes¶

• Fixed HTTP client GET method confusion (HTTP_GET vs HTTP_METHOD_GET)
• Added error logging showing method and payload length on HTTP failures
• Removed redundant HTTP client code

Improvements¶

• HTTP client error messages now more informative
• Code cleanup and maintenance

Version 4.0.1¶

Release Date: March 2025

Bug Fixes¶

• Fixed MQTT manager memory leak after generating new certificates
• Fixed default serial number format from 'sn' to 'sn-'
• Fixed production test issues in v4
• Fixed HTTP download file semantic locking

Improvements¶

• MQTT manager now only prints first line for failed certificate responses
• Production test: postponed UI refresh by 500ms for stability
• Production test: no longer reboots when remote UI kicks in
• Serial number sampled before fetching certificates to avoid race conditions

Version 4.0.0¶

Release Date: February 2025

Major Features¶

Fast SVIN UI Unification¶

• Survey-in time reduced to 90 seconds (Fast SVIN mode)
• Unified Fast SVIN and standard SVIN user interfaces
• High Precision (HP) bit automatically managed based on Fast SVIN usage

Automatic Migration 3.x → 4.x¶

• System detects missing antenna position on upgrade
• Automatic calibration (~SVIN) performed on first boot
• Position and delta SVIN vs real position stored
• Low precision mode preserved during migration
• Delta check with corrections: 0.5m (improved safety)
• Delta check without corrections: 7m (as before)
• HP bit remains OFF during migration, can be manually enabled

Reverse Gateway Support¶

• Enables remote connection/update to WiFi bases via Robot
• No configuration required on the base
• Designed for TM8x0+MAIO robot integration
• Requires robot software update (coming in v5.⅘.3)
• Requires OS change to allow forwarding only for our base

ZED-F20 Support¶

• Full support for ZED-F20 triple-band GNSS module
• UI displays "dual band" vs "tri-band" based on module type
• Separate configurations for F9P and F20
• GPS, Galileo, BeiDou, QZSS, and GLONASS with L5 band support

Technical Improvements¶

Position Management¶

• ZED transitions to 'real' position with proper accuracy
• JSON decimals now correspond to actual precision
• Support for v3 reference positions with centimeter precision
• Always allows SVIN restart once
• Explicit tracking of whether corrections were used for reference position
• Survey restarts automatically when corrections arrive

RTCM Handling¶

• RTCM-IN query repeats 0.5 seconds after MQTT connection
• Always accepts incoming RTCM (removed micro-management)
• Improved RTCM parsing and logging
• State-less RTCM parser isolation

Web Interface¶

• Dynamic control of NVS content debugging
• Shows all STA config items when SSID is set
• Shows/hides/enables/disables items based on cloud connection
• Shows incoming RTCM during startup
• Shows manual reference position in engineering view
• Removes dead code and improves maintainability

System¶

• Added soft timers for better timing management
• Added uptimef() for more precise time tracking
• Corrected minimum accuracy to 5cm
• Removed errors when no longer applicable
• Improved state machine timestamp management

Configuration Updates¶

• Removed long-removed rate parameters from documentation
• Cleaned up ZED configuration
• Replaced ZED config with valset series
• Removed duplicate antenna configuration
• Removed fix mode from config

Migration Notes¶

Important Migration Limitations: - Migration from 4.0.0 → 4.0.2 not handled (not officially deployed) - May need to manually fix HP bits after restore

Downgrade Warning: - Downgrade from 4.x → 3.x should preserve SVIN - HP bits will be lost if set during 4.x usage - SVIN 3.x → update 4.x → downgrade 3.x: should work - 3.x → 4.x → SVIN → downgrade 3.x: expect issues

Not Yet Tested: - Complete downgrade flow - Production flow - RUT integration (last tested in 3.0.20)

Version 3.0.20¶

Release Date: 2024

Changes¶

• Fixed RUT200 login change handling

Version 3.0.19¶

Release Date: 2024

Changes¶

• Production fixes and improvements

Version 3.0.18¶

Release Date: 2024

Changes¶

• Publish test results to portal

Version 3.0.17¶

Release Date: 2024

Changes¶

• Added TORO Korea model branding

Version 3.0.16¶

Release Date: 2024

Changes¶

• Teltonika RUT firmware 7.12.3 support

Version 3.0.15¶

Release Date: 2024

Changes¶

• ANZ (Australia/New Zealand) region support

Version 3.0.8 - 3.0.14¶

Various production fixes, antenna testing improvements, and stability enhancements.

Version 3.0.0¶

Release Date: 2023

Major Architecture Update¶

• Complete software architecture redesign
• New state machines for ZED and RTK Base
• Improved error detection and handling
• Production test mode
• MQTT event publishing

Features¶

• Multiple constellation support (GPS, GLONASS, Galileo, BeiDou)
• Dual connectivity (WiFi + Ethernet)
• MQTT with TLS encryption
• UDP socket for local RTCM distribution
• Web-based configuration interface
• Console CLI for debugging
• Automatic reference position validation

Version 2.0.1 - 2.0.2¶

Release Date: 2021-2022

Early stable releases with basic RTK functionality: - RTCM data generation - WiFi Access Point mode - Basic MQTT support - Survey-in functionality - LED state indicators

Version History Summary¶

GitLab Resources¶

For detailed commit history and full changelog, please refer to the GitLab repository:

• Commit History: Browse all commits on the master branch
• Tags & Releases: View all version tags and release artifacts
• Compare Versions: Compare changes between any two versions
• Network Graph: Visualize branch history and merges