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ethernet:start [2018/10/08 09:03]
dokuwikiadmin created
ethernet:start [2019/04/16 02:59] (current)
87yj added PAOGI
Line 53: Line 53:
  
 ==== GPS to Ethernet ==== ==== GPS to Ethernet ====
 +
 +==== PAOGI NMEA Sentence for Combined GPS + IMU Data ====
 +
 +AGOpen can receive $PAOGI NMEA style sentences that contain a combined GPS and IMU payloads.
 +$PAOGI stands for Proprietary AgOpen GPS + IMU
 +
 +The PAOGI Sentence format is as follows:
 +
 +$PAOGI
 + From GGA:
 +  * (1 , 2) 123519.00 Fix taken at 1219 UTC
 +  * (3 , 4) 4807.038,N Latitude 48 deg 07.038'​ N
 +  * (5, 6) 01131.000,E Longitude 11 deg 31.000'​ E
 +  * (7) 1 Fix quality: 0 = invalid
 +      * 1 = GPS fix (SPS)
 +      * 2 = DGPS fix
 +      * 3 = PPS fix
 +      * 4 = Real Time Kinematic
 +      * 5 = Float RTK
 +      * 6 = estimated (dead reckoning) (2.3 feature)
 +      * 7 = Manual input mode
 +      * 8 = Simulation mode
 +  * (8) 08 Number of satellites being tracked
 +  * (9) 0.9 Horizontal dilution of position
 +  * (10, 11) 545.4,M Altitude, Meters, above mean sea level
 +  * (12) 1.2 time in seconds since last DGPS update
 +
 +From RMC or VTG:
 +  * (13) 022.4 Speed over the ground in knots 
 +  * (14) 084.4 Track angle in degrees True
 +
 +FROM IMU:
 +  * (15) XXX.xx IMU Heading in degrees True
 +  * (16) XXX.xx Roll angle in degrees (What is a positive roll, left leaning - left down, right up?)
 +  * (17) XXX.xx Pitch angle in degrees (Positive pitch = nose up)
 +  * (18) XXX.xx Yaw Rate in Degrees / second
 +  * (19) T/F IMU status - Valid IMU Fusion
 +
 +*CHKSUM
  
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ethernet/start.txt ยท Last modified: 2019/04/16 02:59 by 87yj