WORKSWELL GIS 320, Руководство пользователя

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9. GPS AND MAVLINK
Listing 9.1: NMEA string example
$GNGGA , 1 2 3 5 1 9 , 4 8 0 7 . 0 3 8 , N , 0 1 1 3 1 . 0 0 0 , E , 1 , 0 8 , 0 . 9 , 5 4 5 . 4 ,M, 4 6 . 9 ,M, ,
*
4 7
Where :
GGA G l o b a l P o s i t i o n i n g System F i x Data
123519 F i x t a k e n a t 1 2 : 3 5 : 1 9 UTC
4 8 0 7 . 0 3 8 ,N L a t i t u d e 48 deg 0 7 . 0 3 8 ’ N
0 1 1 3 1 . 0 0 0 , E L o n g i t u d e 11 deg 3 1 . 0 0 0 ’ E
1 F i x q u a l i t y : 0 = i n v a l i d
1 = GPS f i x ( SPS )
2 = DGPS f i x
3 = PPS f i x
4 = R e a l Time K i n e m a t i c
5 = F l o a t RTK
6 = e s t i m a t e d ( dead r e c k o n i n g ) ( 2 . 3 f e a t u r e )
7 = Manual i n p u t mode
8 = S i m u l a t i o n mode
08
Number o f s a t e l l i t e s b e i n g t r a c k e d
0 . 9 H o r i z o n t a l d i l u t i o n o f p o s i t i o n
5 4 5 . 4 ,M A l t i t u d e , Meters , above mean s e a l e v e l
4 6 . 9 ,M H e i g h t o f g e o i d ( mean s e a l e v e l ) above WGS84
e l l i p s o i d
( empty f i e l d ) t i m e i n s e c o n d s s i n c e l a s t DGPS u p d a t e
( empty f i e l d ) DGPS s t a t i o n I D number
*
47 t h e checksum data , a l w a y s b e g i n s w i t h
*
9.2 MAVLink
MAVLink or Micro Air Vehicle Link is a protocol for communicating with small unmanned vehicles. It is used by
UAV autopilots like Pixhawk.
Autopilots or any device supporting MAVLink messages can be connected to GIS 320 unified interface cable with
a 4 pin connector. As for the physical layer, the Workswell GIS 320 system is designed for UART with operating
voltage of 5 V, although it is tolerant to 3.3 V.
UART at baud rate 57600 bps
supports GPS and camera commands to save frames or record video
operating voltage of 5 V, although it is tolerant to 3.3 V
GPS connected to the GPS connector is indicated by the GPS icon in the Status bar
GIS 320 supports the following MAVLink messages:
MAVLINK_MSG_ID_GLOBAL_POSITION_INT
MAVLINK_MSG_ID_GPS_STATUS
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Revision 210427 EN, 27 th Apr, 2021
All pictures are only for illustration.
Real values may vary.
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