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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