updates as requested

README.md

@@ -15,3 +15,22 @@ If you require any assistance using this code, please email support@advancednavi
 
 Installation, build, device configuration, and execution instructions can be found in the file "Advanced Navigation ROS Driver Notes.txt". 
 
+
+*** modifications by Kyler Laird ***
+
+Orientation now complies with REP 103.  East is zero degrees.  Degrees increment counter-clockwise.
+https://github.com/ros-drivers/advanced_navigation_driver/issues/3#issuecomment-372348146
+
+new parameters:
+	utm_zone:  Specify a UTM Zone number.  This will be used for calculating the transform.
+
+new topics:
+	rtcm:  Strings published to this topic will be passed to the device as RTCM corrections.
+	odom:  Odometry from the device is published to this topic.  (Depends on utm_zone.)
+
+new frames:
+	~:  This frame has the name of the current name space and describes the position and orientation of the device.  (Depends on utm_zone.)
+
+Under Linux, serial port reads are blocking.  This reduces CPU usage from 100% to 5% (for 20 Hz on an i5).
+
+These changes are all tentative and need testing.

logs/README.md

@@ -0,0 +1,3 @@
+I'll place bag files here from the AN driver.
+
+I make no guarantees about these files.  Please tell me if you notice problems with them.