Motus Reference Manual
Page 95 of 146
Version 1.1
29/11/2019
15.4.6
NMEA Input
This function accepts external data in the NMEA format. Advanced Navigation
recommends against using NMEA where possible due to the inefficiency, inaccuracy
and poor error checking of the format. All NMEA messages received must have a valid
checksum. Supported messages are listed below. The recommended combination of
messages are GPGGA, GPVTG and GPZDA with optional messages GPGSV and GPGSA.
Message ID
Description
GPGGA
GNGGA
3D position
GPGLL
GNGLL
2D position
GPRMC
GNRMC
2D position, 2D velocity and coarse time
GPVTG
GNVTG
2D velocity
GPHDT
GNHDT
HEHDT
Heading
GPGSV
GNGSV
Satellites
GPGSA
GNGSA
Dilution of Position
GPZDA
GNZDA
Time
Table 26: Supported NMEA messages
15.4.7
NMEA Output
This function outputs a configurable combination of NMEA messages at up to 50 Hz.
The messages output and the output rate can be configured using the GPIO Output
configuration dialogue in Motus Manager. A complete list of available messages can be
found in section 16.10.14.
Advanced Navigation recommends against using NMEA where possible due to the
inefficiency, inaccuracy and poor error checking of the format.
$GPZDA,031644.460,07,05,2013,00,00*52
$GPGGA,031644.460,3352.3501851,S,15112.2355488,E,6,00,1.4,150.0,M,0.0,M,,*7E
$GPVTG,089.19,T,089.19,M,000.00,N,000.00,K,E*27
$GPRMC,031644.460,A,3352.3501851,S,15112.2355488,E,0.0,89.2,070513,12.5,W,E*02
$GPHDT,89.2,T*06
$PASHR,031644.460,089.19,T,-00.01,-00.47,-00.00,,,,0,0*2E
