124
ATT: True Heading
This message delivers either pitch OR roll angles, not both at
the same time, depending on how the antennas are installed.
$PASHR,ATT,f1,f2,f3,f4,f5,f6,d7*cc
AVR: Time, Yaw, Tilt
$PTNL,AVR,m1,f2,Yaw,f3,Tilt,,,f4,s5,f6,d7*cc
Parameter
Description
Range
f1
Week time in seconds.
000000.00-604799.99
f2
True heading angle in degrees.
000.00-359.99999
f3
Pitch angle in degrees.
±90.00000
f4
Roll angle in degrees.
±90.00000
f5
Carrier measurement RMS error, in
meters.
Full range of real vari-
ables
f6
Baseline RMS error, in meters.
Full range of real vari-
ables
d7
Integer ambiguity is “Fixed” or “Float”:
• 0: Fixed
• >0: Float
0, >0
*cc
Checksum
*00-*FF
Parameter
Description
Range
m1
Current UTC time of vector fix (hhmmss.ss)
000000.00-
235959.99
f2,Yaw
Yaw angle, in degrees.
f3,Tilt
Tilt angle, in degrees.
f4
Range, in meters
d5
GNSS quality indicator:
• 0: Fix not available or invalid
• 1: Autonomous GPS fix.
• 2: Differential carrier phase solution RTK (float)
• 3: Differential carrier phase solution RTK (fixed)
• 4: Differential code-based solution
0-4
f6
PDOP
0-9.9
d7
Number of satellites used in solution
*cc
Checksum
*00-*FF
