WORKSWELL WIRIS PRO - Mavlink

9. GPS AND MAVLINK
Lisng 9.1: NMEA string example
$GNGGA, 1 2 35 19 , 4 8 0 7 . 03 8 ,N, 0 1 1 3 1 . 0 0 0 , E , 1 , 0 8 , 0 . 9 , 5 4 5 . 4 ,M, 4 6 . 9 ,M, ,
*
4 7
Where :
GGA G l o b a l P o s i t i o n i n g System F i x D ata
123519 F i x t a ke n a t 1 2 : 3 5 : 1 9 UTC
4 8 07 . 03 8 ,N L a t i t u d e 48 deg 0 7 . 0 3 8 ’ N
0 1 1 31 . 00 0 , E L o n g i t u d e 11 deg 3 1 . 0 0 0 ’ E
1 F i x q u a l i t y : 0 = i n v a l i d
1 = GPS f i x ( SPS )
2 = DGPS f i x
3 = PPS f i x
4 = R e a l Time K i n e m a t i c
5 = F l o a t RTK
6 = e s t i m at e d ( dead r e c k o n i n g ) ( 2 . 3 f e a t u r e )
7 = Manual i n p u t mode
8 = S i m u l a t i o n mode
08 Number o f s a t e l l i t e s b ei n g t r a c k e d
0 . 9 H o r i z o n t a l d i l u t i o n o f p o s i t i o n
5 4 5 . 4 ,M A l t i t u d e , Meters , above mean s e a l e v e l
4 6 . 9 ,M H e i gh t o f g eo i d ( mean s e a l e v e l ) above WGS84
e l l i p s o i d
( empty f i e l d ) t ime i n s e cond s s i n c e l a s t DGPS upd ate
( empty f i e l d ) DGPS s t a t i o n I D number
*
47 the checksum data , a lw a ys b e g i n s w it h
*
9.2 MAVLink
MAVLink or Micro Air Vehicle Link is a protocol for communicang with small unmanned vehicles. It is used by
UAV autopilots like Pixhawk.
Autopilots or any device supporng MAVLink messages can be connected to WIRIS Pro unied interface cable
with a 4 pin connector. As for the physical layer, the Workswell WIRIS system is designed for UART with operang
voltage of 5 V, although it is tolerant to 3.3 V.
UART at baud rate 57600 bps
supports GPS and camera commands to save frames or record video
operang voltage of 5 V, although it is tolerant to 3.3 V
GPS connected to the GPS connector is indicated by the GPS icon in the Status bar
WIRIS Pro supports the following MAVLink messages:
MAVLINK_MSG_ID_GLOBAL_POSITION_INT
MAVLINK_MSG_ID_GPS_STATUS
E‐mail and Web
info@workswell.eu
www.workswell.eu
Mobile:
+420 725 877 063
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VAT No.: CZ29048575
Headquarters
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155 00, Prague 13
Czech Republic
Version: 201215 EN, 15
th
Dec, 2020
All pictures are only for illustraon.
Real values may vary.
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