Hi all, Resent days RTK becoming Very popular and I came across some function called Heading to True North.

The RTK module is enabled with two antenna facing in the same direction and gives Heading Accuracy (RMS) 0.2° (1m baseline) as bellow. I can log this data along with GPGGA msg from the RTK GPS module through UART.

Hope this data can support the compass function for a better flight.

I request support to read this header msg and use it for compass function.

$GNHDT,178.7236,T*15 (<Log header>,< Heading angle>,< True North>,< *Checksum>)

 

#HEADINGA,COM1,0,29.0,FINE,1740,367835.000,00000000,e,0;SOL_COMPUTED,NARROW_INT,0.0014,286.2120,41.0552,0.0000,416.9299,654.8104,"0",20,17,17,17,0,01,0,c3*ce3d9c8e

Field

Field

Data Description

Format

Bytes

Offset

1

HEADING header

Log header

H

0

2

sol stat

Solution status, see Table 21

Enum

4

H

3

pos type

Position type, see Table 20

Enum

4

H+4

4

length

Baseline length (0 to 3000 m)

Float

4

H+8

5

heading

Heading (0 to 360.0 degrees)

Float

4

H+12

6

pitch

Pitch (±90 degrees)

Float

4

H+16

7

Reserved

Float

4

H+20

8

hdgstddev

Heading standard deviation

Float

4

H+24

9

ptchstddev

Pitch standard deviation

Float

4

H+28

10

stn id

Base station ID

Float

4

H+32

11

#SVs

Number of tracked satellites

Uchar

1

H+36

12

#solnSVs

Number of satellites in use

Uchar

1

H+37

13

#obs

Number of satellites above the elevation cut-off angle

Uchar

1

H+38

14

#multi

Number of satellites above elevation cut-off angle with L2

Uchar

1

H+39

15

Reserved

Uchar

1

H+40

16

ext sol stat

Extended solution status, see Table 29

Uchar

1

H+41

17

Reserved

Uchar

1

H+42

18

sig mask

Signal mask, see Table 22

Uchar

1

H+43

19

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+44

20

[CR][LF]

Sentence terminator (ASCII only)

_

_

_

 

 

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Posting to discuss.ardupilot.org would be better.

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