VN-200 User Manual
UM004
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5.14
GPS Configuration
GPS Configuration
Register ID :
55
Firmware :
v0.1 and up
Access :
Read / Write
Comment :
Size (Bytes):
4
Example Serial Read
Register Response:
$VNRRG,55,2,0,0,0*71
Byte
Offset
Name
Number
Format
Unit
Description
0
Mode
U1
-
GPS mode.
0 = Use onboard GPS.
1 = Use external GPS with hardware PPS support.
2 = Use external GPS with software PPS support.
1
NMEA_Serial1
U1
-
Selects which NMEA GPS packets are outputted on serial port #1.
See table below for available NMEA messages.
2
NMEA_Serial2
U1
-
Selects which NMEA GPS packets are outputted on serial port #2.
See table below for available NMEA messages.
3
NMEA_Rate
U1
-
GPS NMEA message skip factor. If set to 2 then the sensor will
send out every other NMEA message. NMEA messages are
internally collected at 5Hz.
0 – Off
1 – 5Hz
5 – 1Hz
4
GPS_Delay
U1
-
GPS delay for software based PPS support. This parameter is
only used when Mode=2. Sets the number of INS filter steps the
GPS data is delayed by. The INS filter runs at 200Hz (5ms).
0 = No delay
4 = 20ms delay
Table 36 - NMEA Messages
Name
Bit Offset
Description
GGA
0
Global positioning system fix data
GLL
1
Latitude and longitude
GRS
2
GNSS Range Residuals
GSA
3
GNSS DOP and Active Satellites
GST
4
GNSS Pseudo Range Error Statistics
GSV
5
GNSS Satellites in View
RMC
6
Recommended Minimum Data
VTG
7
Course over ground and Ground speed
