Linx-technologies RXM-GPS-R4 Uživatelský manuál stáhnout pdf (Strana 11)

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VTG – Course Over Ground and Ground Speed

Figure 15 contains the values for the following example:

$GPVTG,79.65,T,,M,2.69,N,5.0,K,A*38

Course Over Ground and Ground Speed Example

Name Example Units Description

Message ID $GPVTG VTG protocol header

Course over ground 79.65 degrees Measured heading

Reference T TRUE

Course over ground degrees Measured heading (N/A, null ﬁeld)

Reference M Magnetic

Speed over ground 2.69 knots Measured speed

Units N Knots

Speed over ground 5.0 km/hr Measured speed

Units K Kilometer per hour

Mode A

A=autonomous, D=DGPS, N= Data

not valid

Checksum *38

<CR> <LF> End of message termination

Figure 15: Course Over Ground and Ground Speed Example

NMEA Input Messages

The following outlines the serial commands input into the module for

conﬁguration. By default, the commands are input at 9,600bps, 8 data bits,

1 start bit, 2 stop bits, and no parity.

All ﬁelds in all proprietary NMEA messages are required; none are optional.

All NMEA messages are comma delimited. Figure 17 outlines the message

identiﬁers supported by the module.

Serial Data Structure

Name Example Description

Start Sequence $PSRF

Message ID <MID>

Message Identiﬁer consisting of three numeric

characters. Input messages begin at MID 100.

Payload DATA Message speciﬁc data.

Checksum CKSUM

CKSUM is a two-hex character checksum as

deﬁned in the NMEA speciﬁcation, NMEA-0183

Standard for Interfacing Marine Electronic Devices.

Checksums are required on all input messages.

End Sequence <CR> <LF>

Each message must be terminated using Carriage

Return (CR) Line Feed (LF) (\r\n, 0x0D0A) to cause

the receiver to process the input message. They

are not printable ASCII characters, so are omitted

from the examples.

Figure 16: Serial Data Structure

Message ID Values

Name MID Description

SetSerialPort 100 Set PORT A parameters and protocol

NavigationInitialization 101 Reset the modules

Query/Rate Control 103

Query standard NMEA message and/or set

output rate

LLANavigationInitialization 104 Reset the modules

Development Data On/Off 105 Development Data messages On/Off

System Turn Off 117

Performs an orderly shut down of the module

and switches into hibernation mode

Figure 17: Message ID Values

1 2 ... 6 7 8 9 10 11 12 13 14 15 16 17 18 19

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