This is the first release of the software here on GitHub.

As changelogs do not make sense here is a short overview of the existing nodes and their functionality.

Node overview

DataProcessor

Nodes processing incoming data with different algorithms

Node	Description
AllanDeviation	Calculate and visualize an Allan Deviation plot
ErrorModel	Apply errors to either `ImuObs`, `ImuObsWDelta`, `PosVelAtt`, `GnssObs`
LowPassFilter	Low-pass filter data
GnssAnalyzer	Analyze GNSS signals by calculating combinations and detecting cycle-slips
SinglePointPositioning	Single Point Positioning (SPP) GNSS positioning
ImuIntegrator	IMU data integrator
LooselyCoupledKF	INS/GNSS loosely-coupled Kalman filter
ImuFusion	Fuses multiple IMU sensors into one virtual IMU
WiFiPositioning	Calculates a position using WiFi signals

Nodes reading data from files or interfacing with sensors

Node	Description
CsvFile	Read content from a CSV file
EmlidFile	Read data logged from an emlid GNSS sensor
NmeaFile	Read NMEA data (position, ...)
RinexNavFile	Read RINEX navigation files
RinexObsFile	Read RINEX observation files
RtklibPosFile	Read RTKLIB position solution files
UbloxFile	Read u-blox files (UBX)
EmlidSensor	Interface an emlid sensor
UbloxSensor	Interface an u-blox sensor
ImuFile	Read IMU data from a file
KvhFile	Read data logged from a KVH IMU
MultiImuFile	Read data logged by a multi-IMU sensor
UlogFile	Read data logged by e.g. a Pixhawk in ULog format
VectorNavFile	Read data logged by a VectorNav sensor
KvhSensor	Interface a KVH IMU
Navio2Sensor	Interface a Navio2 RaspberryPi hat
VectorNavSensor	Interface a VectorNav sensor
ImuSimulator	Simulate trajectories and IMU data
PosVelAttFile	Read position, velocity and attitude information from file
WiFiObsFile	Read WiFi observation files
ArubaSensor	Interface with Aruba routers for WiFi positioning
EspressifSensor	Interface with Esp32 controllers for WiFi positioning

Nodes for logging different data types to files

Node	Description
CsvLogger	Log data as CSV files (most data types can be connected here)
KmlLogger	Log data as KML files
MatrixLogger	Log INSTINCT matrices (e.g. from a Kalman filter)
RinexObsLogger	Log RINEX observation files
UartDataLogger	Log UBX data
VectorNavDataLogger	Log VectorNav sensor data
WiFiObsLogger	Log WiFi observations

Nodes for sending data over network or other interfaces

Node	Description
mavlinkSend	Sends MAVLink commands to a drone to set its positioning solution
udpRecv	Receives data sent over UDP for e.g. a data link between a drone and ground station
udpSend	Sends data over UDP for e.g. a data link between a drone and ground station

Nodes which fulfill different tasks without clear category

Node	Description
Plot	Plot data
PosVelAttInitializer	Initialize a `PosVelAtt` solution either in the GUI or by averaging `PosVel` and `ImuObs` in a static use case
Combiner	Calculates algebraic combinations between input data. Useful to calculate differences of signals and a reference
Demo	Demo node showcasing basic INSTINCT functionality
GroupBox	Group box to separate nodes visually
Merger	Merges 2 inputs of the same type into one
Terminator	Terminates a signal. Usually only used in testing as pins can be left unconnected in a flow
TimeWindow	Specify a time window to let messages pass or to filter them

Nodes for converting of message types inside INSTINCT.

Node	Description
RtklibPosConverter	Converts `RtklibPosObs` to `PosVel`
UartPacketConverter	Converts `UartPacket` to `UbloxObs` by decrypting the UBX messages
UbloxGnssObsConverter	Converts `UbloxObs` to `GnssObs`
UbloxGnssOrbitCollector	Converts `UbloxObs` to `GnssNavInfo` by collecting the orbit information
VectorNavBinaryConverter	Converts `VectorNavBinaryOutput` to one of `ImuObs`, `ImuObsWDelta`, `PosVelAtt`, `GnssObs`

These nodes are not really used in production. Use at your own risk.

Node	Description
ARMA	ARMA IMU Filter. See "Implementierung und Analyse eines ARMA-Filters – angewendet auf Rohdaten einer inertialen Messeinheit - Janis Thürsam, 2021, Master Thesis"
SkydelNetworkStream	Listens on a network port for messages from the Skydel IMU Plugin
Delay	Delays incoming messages for a configurable amount. The timestamps are not changed, only delays the sending of the messages.