mission planner follow me mode with external GPS
I wish to use follow me mode to make my 4 axis to follow a RC car or RC boat.
the idea is to transmit decoded GPS location and pass through radio form remote site to station.
And then pass the coordination the mission planner with NMEA format.
which I will need to use a arduino and generate NMEA to USB.
there is no lib for this, but a example of generate CRC:
http://engineeringnotes.blogspot.tw/2015/02/generate-crc-for-nmea-strings-arduino.html
for the sentences contain position:
a = N or S
yyyyy.yy = Longitude of position
a = E or W
hhmmss.ss = UTC of position
A = status: A = valid data
the idea is to transmit decoded GPS location and pass through radio form remote site to station.
And then pass the coordination the mission planner with NMEA format.
which I will need to use a arduino and generate NMEA to USB.
there is no lib for this, but a example of generate CRC:
http://engineeringnotes.blogspot.tw/2015/02/generate-crc-for-nmea-strings-arduino.html
for the sentences contain position:
$GPGGA
| Name | Example Data | Description |
|---|---|---|
| Sentence Identifier | $GPGGA | Global Positioning System Fix Data |
| Time | 170834 | 17:08:34 Z |
| Latitude | 4124.8963, N | 41d 24.8963' N or 41d 24' 54" N |
| Longitude | 08151.6838, W | 81d 51.6838' W or 81d 51' 41" W |
| Fix Quality: - 0 = Invalid - 1 = GPS fix - 2 = DGPS fix | 1 | Data is from a GPS fix |
| Number of Satellites | 05 | 5 Satellites are in view |
| Horizontal Dilution of Precision (HDOP) | 1.5 | Relative accuracy of horizontal position |
| Altitude | 280.2, M | 280.2 meters above mean sea level |
| Height of geoid above WGS84 ellipsoid | -34.0, M | -34.0 meters |
| Time since last DGPS update | blank | No last update |
| DGPS reference station id | blank | No station id |
| Checksum | *75 | Used by program to check for transmission errors |
$GPGLL
Geographic Position, Latitude / Longitude and time.eg1. $GPGLL,3751.65,S,14507.36,E*77 eg2. $GPGLL,4916.45,N,12311.12,W,225444,A 4916.46,N Latitude 49 deg. 16.45 min. North 12311.12,W Longitude 123 deg. 11.12 min. West 225444 Fix taken at 22:54:44 UTC A Data valid eg3. $GPGLL,5133.81,N,00042.25,W*75 1 2 3 4 5 1 5133.81 Current latitude 2 N North/South 3 00042.25 Current longitude 4 W East/West 5 *75 checksum$--GLL,lll.ll,a,yyyyy.yy,a,hhmmss.ss,A llll.ll = Latitude of position
a = N or S
yyyyy.yy = Longitude of position
a = E or W
hhmmss.ss = UTC of position
A = status: A = valid data
$GPRMA
Recommended minimum specific Loran-C dataeg. $GPRMA,A,llll.ll,N,lllll.ll,W,,,ss.s,ccc,vv.v,W*hh 1 = Data status 2 = Latitude 3 = N/S 4 = longitude 5 = W/E 6 = not used 7 = not used 8 = Speed over ground in knots 9 = Course over ground 10 = Variation 11 = Direction of variation E/W 12 = Checksum
$GPRMC
Recommended minimum specific GPS/Transit dataeg1. $GPRMC,081836,A,3751.65,S,14507.36,E,000.0,360.0,130998,011.3,E*62 eg2. $GPRMC,225446,A,4916.45,N,12311.12,W,000.5,054.7,191194,020.3,E*68 225446 Time of fix 22:54:46 UTC A Navigation receiver warning A = OK, V = warning 4916.45,N Latitude 49 deg. 16.45 min North 12311.12,W Longitude 123 deg. 11.12 min West 000.5 Speed over ground, Knots 054.7 Course Made Good, True 191194 Date of fix 19 November 1994 020.3,E Magnetic variation 20.3 deg East *68 mandatory checksum eg3. $GPRMC,220516,A,5133.82,N,00042.24,W,173.8,231.8,130694,004.2,W*70 1 2 3 4 5 6 7 8 9 10 11 12 1 220516 Time Stamp 2 A validity - A-ok, V-invalid 3 5133.82 current Latitude 4 N North/South 5 00042.24 current Longitude 6 W East/West 7 173.8 Speed in knots 8 231.8 True course 9 130694 Date Stamp 10 004.2 Variation 11 W East/West 12 *70 checksum eg4. $GPRMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,ddmmyy,x.x,a*hh 1 = UTC of position fix 2 = Data status (V=navigation receiver warning) 3 = Latitude of fix 4 = N or S 5 = Longitude of fix 6 = E or W 7 = Speed over ground in knots 8 = Track made good in degrees True 9 = UT date 10 = Magnetic variation degrees (Easterly var. subtracts from true course) 11 = E or W 12 = ChecksumAction
How it works?
Mission planner will take a source of GPS form a com port of PC, and the GPS has to be BMEA one.How to get into the page.To test:Open your mission, you don't need to have a plane or drone connected, and in the flight data page,press ctl-F(combination of key)Then, it pop out a window named"temp"...select the follow me, it shows another page:you pick your com port of gps source, baud rate, and update rate, the update rate is the rateAPM sent to drone, not the update rate of GPS.The pic above is a gps sending only GPGGA, it seems the data are enough.I have did a configuration on ublox gps:with configured ublox, I can limit the air transmission down to 70-80 bytes which is good enoughfor wireles transmission I have, such as zigbee... should do the test when weather is good.
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