Ardupilot 2.6 MediaTek Parser


I have a quick beta of the MediaTek GPS parser for Ardupilot 2.6. Quick caveat - I don't actually have this module in my hands yet! I just modified Jose Julio's parser to match what 2.6 needs and read the data sheet on the new protocol. So, if someone who has the new modules could try this out and let me know if you are getting the right values, I'd appreciate it!

Set your GCS_PROTOCOL to 4 in your header file.

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  • Developer
    I just got my modules today so I'll post an update asap.
  • Thanks for the protocol jason. Two questions:
    1) How was the mtk3329 protocol changed? Is there a command to modify the protocol to NMEA string, customized binary, etc ... ? Do you have to have a relationship with MediaTek to do it, or is there a command?

    2) Why do you have the following code in GPS_join_data() ?

    if(GPS_fix == 0x01) {
    GPS_fix = VALID_GPS;
    print_telemetry = true;
    } else {
    print_telemetry = false;

    When GPS_fix is 0x01, that means there is no fix according to the protocol document. So, why would you assign VALID_GPS (I guess the value of VALID_GPS is defined elsewhere) to GPS_fix? Is VALID_GPS a condition which means there is some GPS data, but no fix? How is the GPS data used when there is no fix?
  • Is the data format of the 'custom DIY drones' GPS firmware available somewhere? I can infer it from the code, but I would like to see some documentation ...
  • Developer
    Jack, You will rock!
  • @Jack: You don't need luck - you're good enough for the job.
  • Developer
    Ever talk to Zoran? I know some programmers there.
  • Interviewing at MediaTek on Wednesday. Wish us luck.
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