Ublox neo6m dune and gps configuration

[Onur GUZEL]

Hello,

After testing Pixhawk and Dune, in my previous question, we decided to use Ublox Neo 6m Gps with Dune and a separate imu, motor drivers. When I checked dune configurations I saw some configurations for Gps devices like UBlox EVK-6H. But the problem is Gps Sentece and Commands are not same for Ublox EVK-6H and Neo6m.

I read the Ublox documentation and understood that the sentences come in the following order, GGA, GLL, GSA, GSV, RMC and VTG. After checking microcom -s 9600 /dev/ttyO1 or cat /dev/ttyO1, we also see incoming gps data, but I am not sure how to integrate ublox neo6m to our dune.

I applied this configuration to gps.ini that we use for our vehicle. 

[Sensors.GPS]

Enabled                                 = Hardware

Entity Label                            = GPS

Activation Time                      = 0

Deactivation Time                  = 0

Debug Level                           = 1

Execution Priority                   = 10

Input Timeout                         = 4.0

Serial Port - Device                = /dev/ttyO1

Serial Port - Baud Rate          = 9600

Power Channel - Names        = GPS, Communications Board

Sentence Order                      = GPVTG, GPGSV, PUBX

Initialization String 0 - Command       = $PUBX,40,GGA,0,1,0,0,0,0\r\n

Initialization String 1 - Command       = $PUBX,40,GLL,0,1,0,0,0,0\r\n

Initialization String 2 - Command       = $PUBX,40,GSA,0,1,0,0,0,0\r\n

Initialization String 3 - Command       = $PUBX,40,GSV,0,0,0,0,0,0\r\n

Initialization String 4 - Command       = $PUBX,40,RMC,0,0,0,0,0,0\r\n

Initialization String 5 - Command       = $PUBX,40,VTG,0,0,0,0,0,0\r\n

Initialization String 6 - Command       = $PUBX,40,TXT,0,0,0,0,0,0\r\n

When I check Dune Control web application (http://vehicle_ip:8080) Navigation status seems "waiting for GPS fix", and when I try to connect to Dune with Neptus I dont see gps data.

My question is what is the correct configuration for ublox neo6m, or where can I learn the right sentence order? (I think the message set in ublox manual seems not correct or I am doing a wrong configuration.)

Regards

[Onur GUZEL]

Hello,

Where can I find a good documentation about this, because I am still getting Gps Fix error, and when we use this configuration Gps gives "restarting Gps in 5 seconds" error. Maybe a little tip about the issue can help me :)

Thanks

Regards

11 Şubat 2017 Cumartesi 15:37:37 UTC+3 tarihinde Onur GUZEL yazdı:

[José Braga]

Hi Onur,

The GPS driver was written for specific devices we had spare at the time and that we use in our robotic systems. The models we've used have some time now, but are reliable. I am no longer affiliated with University of Porto but I do not think they have spare man-power right now to look into the driver and that device manual to adapt. We can provide help to specific questions if you need, and, if you're willing, we'd be more than happy to integrate a solution from you.

I suggest tracking the logs (DevData*) that carry the transmitted raw data exchanged, and to also, print the output when possible. One possibility is that the message protocol for that device uses other services combined with GPS, thus producing different NMEA identifiers.. check that, and if you can, help us with a fix :)

Best regards,

José

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[Onur GUZEL]

Hello Jose,

Thanks for your answer, is developing the Gps task and adding the new neo6m gps to the existing dune Gps task(Sensors/GPS/Task.cpp)  right solution for me? Should I add a new Gps driver task like Gps Ublox Neo6m like Sensors/GPSNeo6m/Task.cpp?

Regards

17 Şub 2017 Cum, 00:33 tarihinde, José Braga <jbr...@oceanscan-mst.com> şunu yazdı:

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[José Braga]

I do not think so

Check your device NMEA replies and add missing methods or adapt if needed. The rest should be pretty much the same

Good luck,

José

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