The other day I was reading one of the posts and read something about one of the newer versions of the ArduPilot software parsing and using NMEA 0183 sentence strings rather than running in a binary mode?? Or was I just fantasizing about using another GPS module and doing some wishful thinking?? I want to say that I remember it being taxing on the code or the microprocessor at some point...please straighten me out!
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ArduPilot has always supported any GPS module in NMEA mode. Just select 0 in the following line and set your GPS module to 38400 baud:
//0-3
#define GPS_PROTOCOL 0 // 0 = NMEA, 1=SIRF, 2=uBlox, 3 = IMU, 5 = Simulated GPS mode (Debug)