-------------------------------------------------------------------------------
                                 UPGRADE NOTES
-------------------------------------------------------------------------------

This file contains the release notes for each firmware upgrade.
Please read all notes down to the firmware version currently installed in your
mount.

WARNING: If you update to a 2.x version a mount with a 1.x firmware, all 
position settings will be lost and you will have to start with a new alignment.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.15.14
-------------------------------------------------------------------------------

* Bugs *

A bug that prevented the persistence of the meridian side setting has been
corrected.

* AZ4000 mounts *

Updates for the AZ4000 mounts.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.15.13
-------------------------------------------------------------------------------

* AZ4000 mounts *

Updates for the AZ4000 mounts.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.15.12
-------------------------------------------------------------------------------

* Refraction *

Now the information about refraction in the menu are updated automatically
when data change.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.15.11
-------------------------------------------------------------------------------

* Weather station *

The firmware now supports reading weather data (temperature, pressure, humidity
and dewpoint) from weather stations or mixed GPS / weather station devices
connected to the GPS port configured for GPS input.

The weather data are shown in the GPS data display, and can be used to update
the refraction data automatically.

A menu item in Local Data -> Refraction -> Weather station can be set to:
- Don't use data - data will be read from the weather station and displayed
on the GPS data display, but won't be used for the refraction model.
- Non tracking - data will be read from the weather station and displayed
on the GPS data display, and will be used to update the refraction model
when the mount is not tracking.
- Always update - data will be read from the weather station and displayed
on the GPS data display, and they will be used to update the refraction model
continuously, after a 15s smoothing process to avoid tracking "jumps".

* Command protocol *

The new commands :WSP, :WST, :WSH, :WSD, :WSG, :WSS have been added to
manage the weather station data.
Check the command protocol for details.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.15.10
-------------------------------------------------------------------------------

Version for tests.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.15.9
-------------------------------------------------------------------------------

* AZ2000 mounts *

Updates for the AZ2000 mounts.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.15.8
-------------------------------------------------------------------------------

* AZ2000 mounts *

Updates for the AZ2000 mounts.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.15.7
-------------------------------------------------------------------------------

* Wake-on-LAN *

The wake-on-LAN now is available on Q-TYPE2012 as well as Q-TYPE2016 control
boxes.

* Command protocol *

The new commands :SWOL and :GWOL have been added for setting the wake-on-LAN.
Check the command protocol for details.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.15.6
-------------------------------------------------------------------------------

Version for tests.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.15.5
-------------------------------------------------------------------------------

* Bugs *

A bug that could prevent the correct saving of the network mask configuration
in control boxes preceding the Q-TYPE 2012 model has been corrected.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.15.4
-------------------------------------------------------------------------------

Improved motor initialization for GM2000HPS-M2, GM3000HPS, GM4000HPS-M2 mounts.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.15.3
-------------------------------------------------------------------------------

Version for tests.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.15.2
-------------------------------------------------------------------------------

* AZ2000 mounts *

Updates for the AZ2000 mounts.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.15.1
-------------------------------------------------------------------------------

* Bugs *

A bug that could prevent the Wireless Network from appearing in the keypad
status icons has been corrected.

-------------------------------------------------------------------------------
   Upgrade notes for 10micron QCI and HPS series mounts software version 2.15
-------------------------------------------------------------------------------

* Command protocol *

A command for querying the expiration of the UTC/Earth rotation data have
been added (:GDUTV#). Check the command protocol for details.

* Final approach configuration *

The final approach configuration, introduced in verison 2.14.21, has been
modified. Please refer to the description here.

With the GM3000HPS, GM4000HPS and GM4000HPS-M2 mounts, now it is possible
to configure the motion of the mount in the final approach phase,
when transitioning from slew to tracking.

A new submenu has been added in the Drive menu. It is possible to configure
the time constant used when making the final approach:

Drive -> Final Approach -> Standard appr.
        Uses the default time constant and distance limit for the final
        approach. By default, the GM4000HPS mounts do not make a final
        approach for slews below 2 arcminutes, while other mounts always
        make a final approach.
Drive -> Final Approach -> Custom appr.
        Specify an user-defined time constant and distance limit for the final
        approach.
        The time constant can be set from 0.25 s to 5.00 s. Shorter
        time constants enable a quicker transition to tracking, but they may
        worsen the tracking behaviour of the mount in the first minutes of
        tracking.
        The distance limit can be set from 0.00 arcmin to 9.99 arcmin. Set
        to 0.00 to always make a final approach, or to a larger value to
        disable it for small moves.

In the command protocol the following commands have been added:
:SFAtc, :GFAtc, :SFAlm, :GFAlm, :SFAmd, :GFAmd. Check the command protocol
for details.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.14.22
-------------------------------------------------------------------------------

* Command protocol *

A new commmand (:TLESCK#) has been added. It returns the status of the slew
to a precalculated satellite transit. Check the command protocol for details.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.14.21
-------------------------------------------------------------------------------

* Final approach configuration - NOTE: MODIFIED IN VERSION 2.15 *

Now it is possible to configure the motion of the mount in the final approach
phase, when transitioning from slew to tracking.

A new submenu has been added in the Drive menu. It is possible to configure
the time constant used when making the final approach:

Drive -> Final Approach -> Default tc
        Uses the default time constant for the final approach.
Drive -> Final Approach -> Custom tc
        Specify an user-defined time constant for the final approach. The
        time constant can be set from 0.25 s to 5.00 s. Shorter time constants
        enable a quicker transition to tracking, but they may worsen the
        tracking behaviour of the mount in the first minutes of tracking.
	
It is also possible to choose whether to make always the final approach, or
disable it for small moves.

Drive -> Final Approach -> Default mode
        The mount uses the default mode for the final approach, which is to
        make a final approach for every slew, except for GM4000HPS mounts
        which do not make a final approach for slews below 2 arcminutes.
Drive -> Final Approach -> Alw. approach
        Configure the mount to always make a final approach at the end of the
        slews.
Drive -> Final Approach -> Big slews only
        Configure the mount to make a final approach only if the slew motion
        is larger than 2 arcminutes at least in one axis.


In the command protocol the following commands have been added:
:SFAtc, :GFAtc, :SFAmd, :GFAmd. Check the command protocol for details.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.14.20
-------------------------------------------------------------------------------

* Command protocol *
The command :getain# to retrieve alignment information has been added.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.14.19
-------------------------------------------------------------------------------

Added improved homing for Baader Domes.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.14.18
-------------------------------------------------------------------------------

Motor noise has been reduced when the mount is stopped or parked, with
GM1000HPS, GM2000HPS-M2, GM3000HPS and GM4000HPS-M2 mounts.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.14.17
-------------------------------------------------------------------------------

Added flap control for Baader Domes. Two new commands have been added to the
Settings -> Dome menu: Open Flap and Close Flap.

* Command protocol *
The commands :GDF and :SDF to query and set the status of the dome flap have
been added. Check the command protocol for details.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.14.16
-------------------------------------------------------------------------------

Version for tests.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.14.15
-------------------------------------------------------------------------------

* Wireless network *

Some timeouts have been introduced to avoid possible troubles when connecting
to a wireless access point.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.14.14
-------------------------------------------------------------------------------

* Bugs *

A bug in the Updater software that could prevent the upload of the correct
Earth Rotation Data to the mount has been corrected.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.14.13
-------------------------------------------------------------------------------

Version for tests.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.14.12
-------------------------------------------------------------------------------

Version for tests.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.14.11
-------------------------------------------------------------------------------

* Bugs *

The Dome setting for the GPS port couldn't be changed back to GPS or serial.
This has been corrected.

* Command protocol *

Added the :GMAC# and :GMACW# commands to get the MAC address of the
network interfaces. Check the command protocol for details.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.14.10
-------------------------------------------------------------------------------

Upgrade for factory tests.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.14.9
-------------------------------------------------------------------------------

Additional logging removed.

* Clutch slip detection *

The clutch slip detection algorithm could be triggered in case of coordinate
synchronization. This has been corrected.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.14.8
-------------------------------------------------------------------------------

Test version with additional logging.

* Low temperature *

Now the GM1000HPS, GM2000HPS M2, GM3000HPS and GM4000HPS M2 mounts detect low
temperature conditions and are able to adjust their behaviour accordingly.

* Command protocol *

Added the :GTMPLT command. Check the command protocol for details.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.14.7
-------------------------------------------------------------------------------

Test version with additional logging.

* Command protocol *

Added the :Ginfo command. Check the command protocol for details.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.14.6
-------------------------------------------------------------------------------

Upgrade for factory tests.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.14.5
-------------------------------------------------------------------------------

* Command protocol *

Some commands for checking the computation of satellite positions have been
added. Check the command protocol for details.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.14.4
-------------------------------------------------------------------------------

* Bugs *

The :GS# command (return sidereal time) could return a wrong value in some
situations. This has been corrected.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.14.3
-------------------------------------------------------------------------------

The stability of the ethernet connection when disconnecting and reconnecting
the cable has been improved.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.14.2
-------------------------------------------------------------------------------

* Keypad *

With the keypad version 1, some random characters were displayed at startup.
This has been corrected.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.14.1
-------------------------------------------------------------------------------

Version for factory tests.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.14
-------------------------------------------------------------------------------

* Dithering *

An automatic dithering function has been added. The relevant settings are in
the submenu Drive -> Dithering. It is possible to setup a random dithering in
both axes, which is triggered based on timer settings that replicate those of
an intervalometer. At the beginning of each interval, the mount moves randomly
in both axes. The amount of movement follows a gaussian distribution whose
standard deviation is controlled by the Dither amount settings.

A new display is available to monitor the dithering status, and to start/stop
the dithering with the ENTER and ESC keys.

The items in the Dithering menu are:
Dither amount – Here you can set the amount of dithering in right ascension
and declination, between 0 and 30 arcseconds.
Dither delay – Controls the amount of delay, in seconds, between the press of
the ENTER key and the start of the first exposure. It can be set from 0 to 99
hours.
Dither exposure – Controls the length of each exposure in seconds, between
0 seconds and 99 hours.
Dither interval – Controls the length of each exposure in seconds, between
5 seconds and 99 hours. The dithering movement is done in this interval.
Dither active – Starts/stop the dithering.

Check the command protocol for the commands dedicated to dithering control.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.13.22
-------------------------------------------------------------------------------

Improved clutch slip detection algorithm for HPS mounts.

Improved user interface for loading UTC/Earth rotation data.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.13.21
-------------------------------------------------------------------------------

Support for electronic box version Q-TYPE 2016.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.13.20
-------------------------------------------------------------------------------

* Command protocol *
The mount command protocol has been extended with new commands for loading
Two-Line Elements for satellites and tracking them. Check the command protocol
for details.

* Balance *
The mount refused to start the electronic balance procedure for the RA axis
if the observing site was below the equator. This has been corrected.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.13.19
-------------------------------------------------------------------------------

Test version.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.13.18
-------------------------------------------------------------------------------

Up to version 2.13.17, uploading new UTC / Earth rotation data didn't take
effect until the mount was rebooted. This has been corrected.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.13.17
-------------------------------------------------------------------------------

Now the volume of the keypad beep in the V2 keypad can be adjusted.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.13.16
-------------------------------------------------------------------------------

The stability of the fit algorithm has been improved to avoid varying RMS
estimation for the pointing error.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.13.15
-------------------------------------------------------------------------------

Test version.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.13.14
-------------------------------------------------------------------------------

The frequency of the beep in the V2 keypad has been reduced.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.13.13
-------------------------------------------------------------------------------

Test version.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.13.12
-------------------------------------------------------------------------------

Test version.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.13.11
-------------------------------------------------------------------------------

* Balance *
The balance fails when the horizon limit is set above the current latitude.
This is correct, but now we give a specific warning.

* Alignment *
The mount now gives warnings and requires confirmation in order to accept an
alignment far from the expected default.

* Horizon limit *
Now the horizon limit has been restricted to the range -5 to +45 degrees.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.13.10
-------------------------------------------------------------------------------

Firmware versions 2.13.8 and 2.13.9 didn't work correctly on some mounts,
which would continue to run the previous version. This has been corrected.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.13.9
-------------------------------------------------------------------------------

* Command protocol *

New commands have been added to set/get the dual axis tracking setting.
:Sdat configures the dual axis tracking setting.
:Gdat gets the status of the dual axis tracking setting.
Check the command protocol for details.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.13.8
-------------------------------------------------------------------------------

* Clutch slip detection *

The clutch slip detection in version 2.13.7 could be triggered even with
the clutches locked with the GM2000HPS M2 mount. This has been corrected.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.13.7
-------------------------------------------------------------------------------

* GPS *

Added support for a new GPS module.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.13.6
-------------------------------------------------------------------------------

Introduced support for GM4000HPS M2 48V mount.

* Networking *

A bug that sometimes would reset the default gateway to 0.0.0.0 has been
corrected.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.13.5
-------------------------------------------------------------------------------

* Command protocol *

A bug affecting the :newalpt command for adding new alignment points has been
corrected.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.13.4
-------------------------------------------------------------------------------

Version for factory tests.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.13.3
-------------------------------------------------------------------------------

* Alignment models *

A bug that prevented command :newalpt to work correctly has been corrected.

New commands to load and save alignment models in the mount database have
been added to the command protocol. Check the "Sync Control and Model
Building" section in the command protocol documentation.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.13.2
-------------------------------------------------------------------------------

* Leap second support *

Now the mount fully implements the different timescales of UT1 and UTC,
accounting for leap seconds and for the non-uniform rotation of the Earth.
This firmware update support the next announced leap second of 2015-06-30.
UTC and Earth rotation data can be updated through the Updater software
separately from the firmware upgrade itself (see the documentation).
You should update every few months in order to preserve the full accuracy
of the mount.

The GPS-UTC value now is computed automatically from these data, in order
to ensure that the leap second is inserted exactly at the right time. The
corresponding menu item now shows the GPS-UTC difference, but you can't
set it manually.

Remember that in the user interface and communication protocol time is
always UTC, unless otherwise specified. 

* Additional icons for the version 2 keypad *

Now the version 2 keypad show additional icons.

- An icon that remembers you to update the UTC / Earth rotation data (it
appears as a "DeltaT").

- An icon that signals that the battery keeping the time has failed and
should be replaced. It appears as a blinking, empty battery. The icon is
reset after the reboot of the mount.

* Command protocol *

New commands have been added for UTC / Earth rotation data.
:GDUT gets the current UTC – UT1 difference in seconds and decimals.
:GDGPS gets the current GPS – UTC difference in seconds.
:GULEAP gets the date of the next leap second that will be accounted for.
:GJD2 gets the current Julian Date with extended precision and leap second
flag.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.13.1
-------------------------------------------------------------------------------

Introduced support for the GM4000HPS M2 mount.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.13
-------------------------------------------------------------------------------

Version for GM4000HPS M2 factory tests.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.26
-------------------------------------------------------------------------------

* Parking *

Now the mount remains in unparked state if a parking command is aborted.

* Command protocol *

New commands have been added to set/get the date and time together.
:SLDT sets the local date and time.
:SUDT sets the UTC date and time.
:GLDT returns the local date and time.
:GUDT returns the UTC date and time.
Check the command protocol for details.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.25
-------------------------------------------------------------------------------

* Wireless network *

A bug that could cause the keypad to display the Wireless icon even after a
failure of the configuration of the Wireless network has been corrected.

Now the Wireless icon blinks while the Wireless network is being configured.

* Command protocol *

A new command (:GWUP#) has been added to check the status of the wireless
interface.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.24
-------------------------------------------------------------------------------

A bug that could cause the mount to become stuck at the horizon until the STOP
key was pressed has been corrected.

In case of fatal error, now the mount executes a deep test routine and shows
improved error codes. The results are saved into the mount and can be
retrieved with the mountlogger software.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.23
-------------------------------------------------------------------------------

Some improvements for factory tests.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.22
-------------------------------------------------------------------------------

* STOP key and :STOP# command *

Now the mount will return a slewing status after the STOP key has been pressed
or the :STOP# command has been received until the motors have been effectively
stopped. Check the command protocol for details.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.21
-------------------------------------------------------------------------------

Some improvements for factory tests.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.20
-------------------------------------------------------------------------------

* Remote assist *

The remote assist procedure has been updated for the new 10micron server.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.19
-------------------------------------------------------------------------------

Version for factory tests.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.18
-------------------------------------------------------------------------------

Version for factory tests.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.17
-------------------------------------------------------------------------------

* GM3000HPS *

Version for testing new parameters for avoiding jitter after declination moves.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.16
-------------------------------------------------------------------------------

* GM3000HPS *

Better control of vibration at near-sidereal speed for the GM3000HPS.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.15
-------------------------------------------------------------------------------

* Pre-heating *

Now it is possible to use the preheating function also on the GM1000HPS,
GM2000HPS M2, GM3000HPS mounts.

* Command protocol *

A new command (:GKHT#) has been added to read the power of the display heater
on the keypad version 2.
The :GTMP command now allows for readout of the keypad v2 heater temperature.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.14
-------------------------------------------------------------------------------

* Command protocol *

Now, when the telescope is commanded to slew to a target from the keypad or
the virtual keypad, the coordinates of the target can be queried using the
:Gr, :Gd, :Gz, :Ga commands. Coordinates that were previously set by
the :Sr, :Sd, Sa, Sz commands are overwritten.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.13
-------------------------------------------------------------------------------

Version for factory tests.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.12
-------------------------------------------------------------------------------

Version for factory tests.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.11
-------------------------------------------------------------------------------

A bug that caused the commands :GTsid# and :GTTRK# to move improperly the mount
has been corrected.

Now the icons displaying the tracking setting of the mount is correctly updated
when the tracking status is changed using the serial/LAN connections.

A bug that could cause the user interface to become unresponsive when the
wireless connection was lost with a virtual keypad active has been corrected.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.10
-------------------------------------------------------------------------------

Now the results from the balance measurements are displayed until the ESC
key is pressed on the keypad.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.9
-------------------------------------------------------------------------------

A bug that could cause the "Shutting down mount..." message not to appear
when shutting down the mount with the power button has been corrected.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.8
-------------------------------------------------------------------------------

A bug that could prevent the correct centering of an object with the GM2000HPS
has been corrected.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.7
-------------------------------------------------------------------------------

Version for factory tests.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.6
-------------------------------------------------------------------------------

* GPS connection *

Now the GPS data acquisition does not block the operation of the mount
anymore.

* Additional icons for the version 2 keypad *

Now the version 2 keypad shows additional icons corresponding to different
tracking settings of the mount.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.5
-------------------------------------------------------------------------------

* Balancing *

Now the mount will make the balance movements starting always with the one
nearest to the current position.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.4
-------------------------------------------------------------------------------

* Shutdown message *

Now the shutdown message is displayed correctly with the version 2 keypad

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.3
-------------------------------------------------------------------------------

* Different WLAN management *

The WLAN Autoconnect option has been removed. When the mount is powered on
the WLAN will retain the last configuration used.

* Command protocol *

A new function dedicated to switching off the WLAN has been added to the
command protocol.

* Version 2 keypad *

Now the mount will update automatically the version 2 keypad if the firmware
release installed on the keypad is not up to date.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.2
-------------------------------------------------------------------------------

Version for factory tests.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.12.1
-------------------------------------------------------------------------------

A bug with the wireless configuration has been corrected.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.12
-------------------------------------------------------------------------------

This version supports new functions with the version 2 keypad.

* Dual information display with version 2 keypad *
Now the basic display has two sections for displaying information.
The display of the first section is controlled with key 3-DATA, while the
display of the second section is controlled with key 2-INFO.

* Status icons *
In the basic display, the keypad will show various status icons displaying
the status of:
 - virtual keypad connnections
 - GPS status
 - wireless connections and activity
 - LAN connections and activity
 - movement commands

Now multiple virtual keypads are allowed to connect to the same mount.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.11.16
-------------------------------------------------------------------------------

Corrected a bug that could affect tracking when an alignment model was deleted
after doing a "Polar align" or "Ortho align" procedure without building
a new alignment model afterwards.

-------------------------------------------------------------------------------
    Upgrade notes for 10micron QCI and HPS series mounts software versions
                               2.11.9 to 2.11.15
-------------------------------------------------------------------------------

Special versions for testing alternative procedures for managing autoguider
corrections and improved mountlogger readout.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.11.8
-------------------------------------------------------------------------------

Special version for testing an alternative procedure for small-movement slews.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.11.7
-------------------------------------------------------------------------------

The behaviour of the GM2000HPS mounts when transitioning from slewing to
tracking has been improved.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.11.6
-------------------------------------------------------------------------------

* J2000.0 equatorial coordinates *

Now it is possible to set the coordinate system to J2000.0 with the menu
Settings -> User Interface -> J2000.0. The letter 'J' will appear in the
equatorial coordinate display to signal that this option is active.
Note that this setting does NOT change the coordinate system used in the
communication protocol.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.11.5
-------------------------------------------------------------------------------

* Wireless network *

The wireless network code has been updated to correct a bug.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.11.4
-------------------------------------------------------------------------------

Version for GM4000 factory tests.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.11.3
-------------------------------------------------------------------------------

* Meridian side *

Now the mount works correctly with meridian limits set to zero.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.11.2
-------------------------------------------------------------------------------

Version for factory tests.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.11.1
-------------------------------------------------------------------------------

Version for GM2000 factory tests.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.11
-------------------------------------------------------------------------------

* Meridian flip *

Some new funcions have been added to the command protocol in order to enable
finer control of the meridian flip behaviour of the mount. They may be used
only with the command protocol / ASCOM Driver. Please check the command
protocol documentation for details.

* Position of Pluto *

The position of Pluto has been corrected.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.10.13
-------------------------------------------------------------------------------

Version for GM3000 factory tests.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.10.12
-------------------------------------------------------------------------------

Now the mount can be parked under the horizon limits. The parking procedures
have been modified as follows.

When setting a custom park position, the mount will ask you to move to the
desired position. During this phase, the horizon limit is disabled. You
MUST PAY THE MAXIMUM ATTENTION to avoid any collision between the instruments
and any other object such as the pier, tripod or other.
When you are in the desired position, press ENTER. The position will be
recorded and the mount will be left in a parked status.
When parking/unparking to/from a position above the horizon, the
usual procedure is followed. When parking to a position below the horizon,
the mount will slew to a position at the horizon having the same
hour angle of the park position (if this hour angle corresponds to a position
where the counterweight shaft is above the telescope, it will slew to the
nearest position with the counterweight shaft levelled). Then it will
slew to the park position (below the horizon). When unparking from a position
below the horizon, the mount will slew to the same position, then it
will be unparked.

When the mount is switched off parked to a position below the horizon,
and the option "Alw. unpark" has been selected, the mount will stay parked
when switched on again.

In order to use a park position below the horizon with the ASCOM driver,
set that position as Custom Pos 1. Subsequent park commands given through
the ASCOM driver will park to that position.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.10.11
-------------------------------------------------------------------------------

The updater program documentation has been updated. Now the updater will ask
for a serial number only when upgrading to firmware 2.x a mount with firmware
1.x installed.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.10.10
-------------------------------------------------------------------------------

Added a PIN-protected locking function for inexperienced users. The menu with
these functions can be accessed in Settings->Security.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.10.9
-------------------------------------------------------------------------------

Added some functions for additional customer support.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.10.8
-------------------------------------------------------------------------------

Version for factory controlled tests.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.10.7
-------------------------------------------------------------------------------

A bug with the length of the A-PEC training has been corrected.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.10.6
-------------------------------------------------------------------------------

* Command protocol *

Some new functions for managing the alignment through the command protocol have
been added (:newalig, :newalpt, :endalig). Check the command protocol
documentation for details.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.10.5
-------------------------------------------------------------------------------

* Wireless network *

Now the command protocol supports configuring the wireless network as a
WPA-PSK encrypted hotspot.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.10.4
-------------------------------------------------------------------------------

* Wireless network *

Now the wireless network can be configure as a WPA-PSK encrypted hotspot.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.10.3
-------------------------------------------------------------------------------

Version for factory controlled tests.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.10.2
-------------------------------------------------------------------------------

* Moon features *

Now it is possible to aim at specific lunar details such as craters, mountains
and so on. A new menu has been added under Object -> Moon detail for this.

Objects are divided into classes following the IAU database. Furthermore, you
may restrict the selection of details in a specific area of the Moon and to
details that are in sunlight or near the terminator.

In order to reach the required accuracy in pointing, even without a detailed
model, it is possible to synchronize the mount on a lunar detail. The
resulting adjustment will be applied to all subsequent slews (to other lunar
details).

The menu is as follows:

Object -> Moon feature -> Select feature -> Crater
                      |                 |-> Albedo feature
                      |                 |-> Catena
                      |                 |-> Dorsum
                      |                 |-> Lacus
                      |                 |-> Landing site
                      |                 |-> Mare
                      |                 |-> Mons
                      |                 |-> Promontorium
                      |                 |-> Rima
                      |                 |-> Rupes
                      |                 |-> Satellite feature
                      |                 |-> Sinus
                      |                 |-> Vallis
                      |
                      |-> Coordinates
                      |-> Terminator
                      |-> Selection -> Illumination -> Whole Moon
                      |            |               |-> Illuminated
                      |            |               |-> Terminator
                      |            |
                      |            |-> Area Circle -> Dist. 2'
                      |            |              |-> Dist. 3'
                      |            |              |-> Dist. 5'
                      |            |              |-> Dist. 7'
                      |            |              |-> Dist. 10'
                      |            |              |-> Dist. 15'
                      |            |              |-> Whole Moon
                      |            |
                      |            |-> Nearest first
                      |            |-> Largest first
                      |            |-> Sort by name
                      | 
                      |-> Sync on feature
                      |-> Clear sync

"Select feature" allows you to choose the specific feature you wish to
observe. "Coordinates" allows you to specify selenographic coordinates
to aim to (lunar longitude and latitude), while "Terminator" will point
at the center of the terminator.
Feature are further selected with the "Selection" submenu. Here you
may specify various requirements so that only features satisfying these
requirements will be shown. "Illumination -> Whole Moon" allows you to show
features in all illumination conditions, including features in the dark part
of the Moon; this can be useful to observe features lit by earthshine.
"Illumination->Illuminated" will select only features lit by the Sun, while
"Illumination->Terminator" will select only features near the terminator.
"Area Circle" allows you to choose a circle with a given radius (from 2' to
15') centered on the current location, so that only features lying in this
circle will be shown. "Nearest first" will show first the features nearest to
the current location of the mount, "Largest first" will show the features
from the largest one, and "Sort by name" will allow you to easily search a
given feature known by its name.
"Sync on feature" is an additional function that allows you to obtain
additional accuracy on the moon. To use this function proceed as follows.
Select a small, recognizable feature on the Moon and slew to it. Then center
the feature accurately. Now select the "Sync on feature" function. From now
on, the position of all features you will select on the Moon will be corrected
taking the feature you synchronized on as a reference. If the synchronization
is not satisfactory, choose "Clear sync" to remove the correction.
Note that this type of synchronization works only on the moon, and is
completely unrelated to the alignment model.

-------------------------------------------------------------------------------
 Upgrade notes for 10micron QCI and HPS series mounts software version 2.10.1
-------------------------------------------------------------------------------

* User interface *

The Russian translation has been updated.

* Mount Configurator *

Now the mount supports saving/restoring parameters through a GUI program
(Mount Configurator) for backup and easier access to the configuration.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.10
-------------------------------------------------------------------------------

* Command Protocol *

A new higher precision communication mode has been added to the command
protocol.

The following commands have been added:
:GINQ - Get the type of connection
:GJD1 - Get the current Julian Date with extended precision
:GREF - Gets the current status of the refraction correction
:GWAV - Query if wireless is available
:GWID - Get the ESSID of the wireless network if available
:GWRAP2 - Get the wireless access points available with encryption information
:SREF - Sets the current status of the refraction correction
:SIP - Set the LAN interface configuration
:U2 - Set ultra precision mode
:NUtim - Adjust the time of the mount of the given amount in milliseconds

The maximum duration of the correction with the pulse fuide commands
:MgnXXXX#, MgsXXXX#, MgeXXXX#, MgwXXXX# has been increased to 9999
milliseconds.

* New features *

In very low temperatures, you may pre-heat the motor drivers on the GM2000 and
GM4000 mounts. The command is found in the menu Drive -> Preheating.

The refraction correction in the mount can be disabled with the settings found
in the menu Local Data->Refraction->Enable refr.

* Wireless settings *

The wireless settings process has been improved so it is not as heavy as
before on the CPU.

* Command rate *

The command processing rate has been increased.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.9.20
-------------------------------------------------------------------------------

Now the virtual keypad is allowed to send alphabetic characters in input
fields accepting them.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.9.19
-------------------------------------------------------------------------------

A bug which prevented the correct entering of the temperature from the keypad
has been corrected.

A bug which prevented the connection of a Baader Dome on the GM1000HPS RS-232
port has been corrected.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.9.18
-------------------------------------------------------------------------------

Some improvements for factory use.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.9.17
-------------------------------------------------------------------------------

Some improvements for factory use.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.9.16
-------------------------------------------------------------------------------

The functions in the menu Alignment->Boot Align have been modified as follows.
The "Alw. Unpark" setting has been replaced by three options:
Stay Parked - after booting, the mount will stay parked regardless of the
state it was switched off.
Last Status - after booting, the mount will stay in the same state it was
switched off.
Alw. Unpark - after booting, the mount will be always unparked, regardless of
the state it was switched off.

The "Alw. Home" (for the GM4000QCI) and "Alw. Reset" (for the GM2000QCI)
functions have been removed.

The SAO database could be corrupted in some instances. This updater reloads
it into the mount if required.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.9.15
-------------------------------------------------------------------------------

The +/- keys on the keypad now respond more quickly when used to change the
speed of the movements.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.9.14
-------------------------------------------------------------------------------

New commands have been added for improving the ASCOM Platform compliance.

The behaviour when changing the movement speed from the keypad has been
improved.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.9.13
-------------------------------------------------------------------------------

Now the firmware support up to 100 aligment stars.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.9.12
-------------------------------------------------------------------------------

Now the mount reports its IP address on the keypad just after booting.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.9.11
-------------------------------------------------------------------------------

An unique mount ID that can be queried by the command protocol has been added
in order to improve performance with the ASCOM driver when multiple mounts
are connected to the same PC.

Some dome control commands have been added to the command protocol.

A new command for querying the current guide rate has been added to the command
protocol.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.9.10
-------------------------------------------------------------------------------

Now you can connect up to 10 clients globally to TCP ports 3490 and 3492.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.9.9
-------------------------------------------------------------------------------

The "Refine 2-Stars" command has been renamed to "Refine Stars" to better fit
its function.

The "Connecting to GPS..." message has been changed to "Detecting GPS..." to
better fit its meaning.

The command protocol has been updated with the following commands:
:Gpgc - Get guiding status
:GTsid - Get the destination side of the target object
:MSfs - Slew to target object on the specified side
:Gev - Get site elevation
:Sev - Set site elevation
and various commands to command slews and parks to specific angular positions
referred to the axes of the mount.
Please check the command protocol for details.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.9.8
-------------------------------------------------------------------------------

The behaviour of the GM2000HPS mounts when transitioning from slewing to
tracking has been improved.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.9.7
-------------------------------------------------------------------------------

Now the synchronization between the mount time and the GPS time can be checked
with the command protocol using the :gtg command.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.9.6
-------------------------------------------------------------------------------

A bug that could corrupt some object databases using non-English languages has
been corrected.

The communication between the controller and the keypad has been improved.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.9.5
-------------------------------------------------------------------------------

* Dome control *

The dome control of GM1000HPS mounts has been improved.

* Motor driver temperature readout *

Now the temperature of the motor drivers can be read with the command protocol
for diagnostic purposes. See the command protocol command :GTMP.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.9.4
-------------------------------------------------------------------------------

* GPS management *

The GPS management has been improved. Now in the time display a "G" signals
that the time is being kept synchronized with the GPS receiver.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.9.3
-------------------------------------------------------------------------------

The Astro-Physics emulation compatibility has been improved.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.9.2
-------------------------------------------------------------------------------

Now when the STOP key is pressed the mount stops with a steeper deceleration.

-------------------------------------------------------------------------------
  Upgrade notes for 10micron QCI and HPS series mounts software version 2.9.1
-------------------------------------------------------------------------------

This version supports shutting down the mount from the keypad (or the virtual
keypad) when using a model 2012 electronic box.

-------------------------------------------------------------------------------
            Upgrade notes for GM2000/GM4000 software version 2.8.19
-------------------------------------------------------------------------------

Now the latitude and longitude fields in the menu Local Data->Site->Current
and in the menu Local Data->Site->Enter show the letters 'E', 'W', 'N', 'S'
instead of plus or minus.

-------------------------------------------------------------------------------
            Upgrade notes for GM2000/GM4000 software version 2.8.18
-------------------------------------------------------------------------------

GM4000QCI mount in 48V version is correctly identified in the startup display.

-------------------------------------------------------------------------------
            Upgrade notes for GM2000/GM4000 software version 2.8.17
-------------------------------------------------------------------------------

* Remote assist mode *

Now the mount support a "Remote assist" modality. To use it, you must contact
the customer support in advance. Then make sure that the mount is able to reach
the Internet using its LAN interface, and select from the menu
Settings->Network->Remote Assist.

-------------------------------------------------------------------------------
            Upgrade notes for GM2000/GM4000 software version 2.8.16
-------------------------------------------------------------------------------

Some minor bugs have been corrected.

-------------------------------------------------------------------------------
            Upgrade notes for GM2000/GM4000 software version 2.8.15
-------------------------------------------------------------------------------

* New commands *

For the GM1000HPS, GM2000HPS and GM4000HPS mounts the synchronization commands
(:CM, :CMR) have been updated to allow using the synchronization function to
input additional points for the pointing model.
This changes also the function of the long-enter press on the keypad.
To set the synchronization function use the function in the menu
Drive->Sync refines.

-------------------------------------------------------------------------------
            Upgrade notes for GM2000/GM4000 software version 2.8.14
-------------------------------------------------------------------------------

* Polar axis alignment *

This version supports the updated altitude and altazimuth adjustment system
with the correct number of knob revolutions for adjusting the polar axis in
the menu Alignment->Align Info in for GM2000HPS mounts.

-------------------------------------------------------------------------------
            Upgrade notes for GM2000/GM4000 software version 2.8.13
-------------------------------------------------------------------------------

* Alignment models *

Now the user is forced to restart the 2-Stars or 3-Stars alignment after a
Polar Align or Ortho Align, as this is the correct thing to do to avoid
errors.

The "MANUAL MOVE" message when moving by hand has been removed.

-------------------------------------------------------------------------------
            Upgrade notes for GM2000/GM4000 software version 2.8.12
-------------------------------------------------------------------------------

The dome interface has been changed for better responsiveness. Tracking
parameters have been modified for improved tracking behaviour.

-------------------------------------------------------------------------------
            Upgrade notes for GM2000/GM4000 software version 2.8.11
-------------------------------------------------------------------------------

Some additional functions for logging purposes have been added.

-------------------------------------------------------------------------------
            Upgrade notes for GM2000/GM4000 software version 2.8.10
-------------------------------------------------------------------------------

Deceleration ramps have been changed to reduce overshoot at intermediate
speeds for the HPS mounts.

Now the HPS mounts show "MANUAL MOVE" when moving by hand with unlocked
clutches.

-------------------------------------------------------------------------------
            Upgrade notes for GM2000/GM4000 software version 2.8.9
-------------------------------------------------------------------------------

The tracking behaviour of the HPS mounts has been improved.

-------------------------------------------------------------------------------
            Upgrade notes for GM2000/GM4000 software version 2.8.8
-------------------------------------------------------------------------------

The :SC command now behaves correctly. A new command (:Gstat) has been added
to replace the old :GSTAT which had ambiguities in the specification.

-------------------------------------------------------------------------------
            Upgrade notes for GM2000/GM4000 software version 2.8.7
-------------------------------------------------------------------------------

Upgraded detection of some hardware malfunctioning errors.

-------------------------------------------------------------------------------
            Upgrade notes for GM2000/GM4000 software version 2.8.6
-------------------------------------------------------------------------------

* Alignment models *
In some cases, the alignment model could be computed incorrectly when using
10 alignment stars or more. This has been corrected.

When using the Refine 2-stars command, the star would go around while
calculating the new alignment. This has been corrected.

-------------------------------------------------------------------------------
            Upgrade notes for GM2000/GM4000 software version 2.8.5
-------------------------------------------------------------------------------

Now the keypad will show "Calculating.." while the calculation of the mount
model is underway after a Refine 2-stars command.

A bug that could make the mount drift while tracking or correcting positions
when an alignment model acounting for telescope flexure was loaded and using
the dual-axis tracking function has been corrected.

-------------------------------------------------------------------------------
            Upgrade notes for GM2000/GM4000 software version 2.8.4
-------------------------------------------------------------------------------

* HPS series support *
Firmware version 2.8.x supports the GM1000HPS, GM2000HPS and GM4000HPS mounts.

-------------------------------------------------------------------------------
           Upgrade notes for GM2000/GM4000QCI software version 2.7.9
-------------------------------------------------------------------------------

* GPS-UTC difference *
Since some GPS modules transmit the GPS time and switch automatically to UTC
time the first time they receive the GPS-UTC time difference after being
powered, the GPS readout procedure has been modified in order to account for
this. Now you may also set the GPS-UTC time difference by hand with the menu
option
Local Data->GPS-UTC diff
This value is set by default at 15 seconds, and is automatically updated when
a new value is received from a connected GPS module.

-------------------------------------------------------------------------------
           Upgrade notes for GM2000/GM4000QCI software version 2.7.8
-------------------------------------------------------------------------------

* Option to automatically close/open the dome shutter when parking/unparking *
A new setting in the Settings->Dome menu allows you to automatically control
the dome shutter when parking or unparking the mount.
You can choose one of these options:
Settings->Dome->Park close
        When activated, this option causes the dome shutter to be commanded to
	close everytime the mount is parked (with the keypad or with the
	command protocol).
Settings->Dome->Unpark open
        When activated, this option causes the dome shutter to be commanded to
	open everytime the mount is unparked (with the keypad or with the
	command protocol).
Both these options are not active by default.

-------------------------------------------------------------------------------
           Upgrade notes for GM2000/GM4000QCI software version 2.7.7
-------------------------------------------------------------------------------

* Option to restrict side of meridian *
A new setting in the Drive menu allows you to restrict the motion of the mount
to only one side of the meridian.
You can choose one of these options:
Drive->Meridian side->Both - the default, allows the mount to go to both sides
                             of the meridian.
Drive->Meridian side->West - observe only setting objects west of the meridian.
Drive->Meridian side->East - observe only rising objects east of the meridian.
Drive->Meridian side->Set this side - observe only on the side of the
                                        meridian the mount is looking at now.

When you try to slew to an object on the forbidden side of the
meridian, the system will ask "Force slew to other side?". By pressing ENTER
you will force the mount to point at the object and toggle the allowed side
of the meridian.

When pointing an object with the command protocol (i.e. from a planetarium
software), the mount will fail the slew if the object is on the forbidden side
of the meridian.

-------------------------------------------------------------------------------
           Upgrade notes for GM2000/GM4000QCI software version 2.7.6
-------------------------------------------------------------------------------

* Support for older mounts *
Some older mounts were configured in a way that caused random reboots during
initialization with version 2.x.y firmware pre-2.7.6 when using some power
supplies. This update fixes this problem.

* Balance move confirmation, balance speed selection *
All Balance operations are now in the submenu Drive->Balance.

Confirmation checks have been added in the balancing procedure, namely:
- before moving to position 1;
- before the first balancing oscillation at position 1;
- before moving from position 1 to position 2;
- before the second balancing oscillation at position 2.

This function (active by default) can be dectivated from the menu:

Drive->Balance->Conf balance (ON/OFF)

The balance speed now can be adjusted separately from the slew speed. By
default, the balance speed is now 3 degrees/s. You may change the balance
speed using the function

Drive->Balance->Set bal. speed

while, if you like, you may set the balance speed always equal to the slew
speed by selecting

Drive->Balance->Use slew speed

-------------------------------------------------------------------------------
           Upgrade notes for GM2000/GM4000QCI software version 2.7.4
-------------------------------------------------------------------------------

* AZ2000 mounts *
This version supports AZ2000 mounts.

* New commands *
New commands for dome management have been added to the command protocol.
Please see the command protocol PDF file for details.

* Beeps while tracking satellites *
Now the mount will beep one time when starting tracking a satellite, and
multiple times from 5s before swapping or stopping tracking.

-------------------------------------------------------------------------------
           Upgrade notes for GM2000/GM4000QCI software version 2.7.2
-------------------------------------------------------------------------------

This version of the GM2000/GM4000QCI software introduces some new functions
and corrects some problems.

* STOP while balancing *
Now the mount stops when the STOP key is hit during the balance procedure.

* Quick positions *
Now if you press the MORE key from the standard display (i.e. when you are not
in a menu or entering data) two new menu items will allow you to store quickly
the position where the telescope is aimed to and recall it later. To define a
quick position, press MORE, select Set Quick Pos, press ENTER, and press a
number corresponding to the position you want to save. You may save up to
ten different positions. Later, to slew the scope to one of the defined
positions, press MORE, press ENTER, and press the number corresponding to the
position you want to slew to. The saved positions are not lost when the mount
is powered off.

* Updater program *
In Windows Vista and Windows Seven with "classical" windows style, when the
satellite data edit window was shown the updater program would freeze. This
has been corrected.

-------------------------------------------------------------------------------
           Upgrade notes for GM2000/GM4000QCI software version 2.7.1
-------------------------------------------------------------------------------

This version of the GM2000/GM4000QCI software introduces some new functions
and corrects some problems.

* Stiction compensation *

The declination axis of the mount may suffer from stiction problems. This can
be a serious problem when autoguiding at very high resolution. A new feature
under the menu Drive->Stiction comp. has been added to mitigate the problem.

(not available in mounts having gearbox reduction)

* Mechanical balance aids *

The behaviour of the previous version of the balancing procedure was far from
being accurate enough. Now the balancing procedure slews automatically
the telescope to the correct balancing positions, uses a longer move and
computes the difference between balancing at two different positions. This
allows for a much more accurate reading.

-------------------------------------------------------------------------------
            Upgrade notes for GM2000/GM4000QCI software version 2.7
-------------------------------------------------------------------------------

Thank you for installing this major upgrade of the GM2000/GM4000QCI firmware.

While operation is similar to the previous 1.x version, many new features have
been added, and some menu commands have been rearranged. Please refer to the
user manual for operation details.

IT IS VERY IMPORTANT TO NOTE that in order to use the satellite tracking
function you MUST download TLE orbital elements from the Web and load it into
the updater software. Please read the updater manual available under
Start -> All Programs -> 10micron -> Updater -> Updater Manual.


Here are the major new features of version 2.7.

SLEW SPEED

On the GM2000 mount, the slew speed can be increased up to 20°/s. Please
exercise the appropriate caution when slewing the mount at speeds greater than
10°/s.

ARTIFICIAL SATELLITE TRACKING

Using the updater software, you can load orbital parameters of artificial
satellites in the two lines element format (TLE). Then you will be able to
slew and track satellites using the hand pad. You can also correct the
trajectory in real time using the direction keys.

DUAL AXIS TRACKING

Sidereal tracking now can be set to use both axes, enabling compensation of
atmospheric refraction and of polar alignment errors while tracking.

MECHANICAL BALANCE AIDS

You can now balance the mount without releasing clutches and without losing
your alignment. A new function will move the telescope while measuring the
torque output by the motors, detecting unbalance electronically.

ADVANCED PERIODIC ERROR CORRECTION

The PEC training procedure now acquires data over more than one period of
revolution of the worm. Then data are fit to a model so that really periodic
components due to the reduction gear can be distinguished from random noise.
The result is a even better tracking.

AUTOGUIDER CALIBRATION

If you still need to autoguide, the mount is able to change the guiding
speed automatically at different declinations, so that you need not
recalibrate your autoguide system.
