9. GPS AND MAVLINK
Lis ng 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 communica ng with small unmanned vehicles. It is used by
UAV autopilots like Pixhawk.
Autopilots or any device suppor ng MAVLink messages can be connected to WIRIS Agro uni ed interface cable
with a 4 pin connector. As for the physical layer, the Workswell WIRIS system is designed for UART with opera ng
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
opera ng 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
WIRIS Agro supports the following MAVLink messages:
MAVLINK_MSG_ID_GLOBAL_POSITION_INT
MAVLINK_MSG_ID_GPS_STATUS
E-mail and Web
[email protected]
www.workswell.eu
Mobile:
+420 725 877 063
ID:
Reg. No.: 29048575
VAT No.: CZ29048575
Headquarters
U Albrechtova vrchu 12
155 00, Prague 13
Czech Republic
Revision 1.0.0 EN, 25
th
Oct, 2019
All pictures are only for illustra on.
Real values may vary.
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