7.7. Text output
Text output is the irregular output of text messages (strings). There are four levels:
• ERROR – Errors. An error is something from which the sensor could not recover or
something that renders the sensor unusable in normal circumstances.
• WARNING – Warnings. A warning is something from which the sensor could re-
cover or something that does not render the sensor unusable in normal circum-
stances (i.e., the sensor operated to specifications). But it can for example hint at
degraded performance.
• INFO – General information.
• DEBUG – Debug information, only useful to Fixposition.
For example, on boot, the sensor outputs a “boot screen”. While it does output it to any
port where the FP_A-TEXT_INFO message is enabled, it is only practical to observe this
output on UART and CANSTR ports. It is not possible to connect to the TCP ports in time
to observe this output. The boot screen is as follows:
1 $FP , TEXT ,1 , INFO , Fixposition AG - www . f ixp osi tio n . com *09\ r \n
2 $FP , TEXT ,1 , INFO , SW = fp_ relea se_vr2_2 .61.0 _191 *78\r\n
3 $FP , TEXT ,1 , INFO , HW = nav - vr2 1.2 a 6 d9d18 *3 E\ r\ n
7.7.1. FP_A-TEXT
Example messages:
1 $FP , TEXT ,1 , INFO , Fixposition AG - www . f ixp osi tio n . com *09\ r \n
2 $FP , TEXT ,1 , WARNING , high imu noise *71\ r \n
3 $FP , TEXT ,1 , ERROR , cfg fail *22\ r\ n
4 $FP , TEXT ,1 , DEBUG , hello world *4 B\ r\ n
Message fields:
# Field Format Unit Example Description
1 msg_type String - CORRIMU
Message type, always
TEXT for this message
2 msg_version Numeric - 1
Message version, always
1 for this version of the
TEXT message
3 level String - DEBUG
Level, one of:
INFO, WARNING, ERROR,
DEBUG
4 text String - hello world Text
Table 7.38.: FP_A-TEXT message format
Vision-RTK 2 | Fixposition Positioning Sensor 75
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