GPS Emulator Now Outputs uBlox and NMEA sentences

The GPS Emulator v1.2.0 that's part of Remzibi's OSD Configuration software now supports uBlox emulation. It has the option to enable NAV-VELNED, NAV-POSLLH and NAV-STATUS (which are the 3 messages ArduPilot uses for positioning).ConfigTool.zip <- Includes GPS Emulator v1.2.4EDIT: Here are all the sentences the emulator currently supportsNMEA$GPRMC - Recommended Minimum Specific GPS/TRANSIT Data$GPGGA - Global Positioning System Fix Data$GPGLL - Geographic Position, Latitude/Longitude$GPVTG - Track Made Good and Ground Speed$GPZDA - UTC Date / Time and Local Time Zone Offset$GPGSA - GPS DOP and Active Satellites$GPGSV - GPS Satellites in ViewuBloxNAV-VELNED - Velocity, Speed and Heading in LLANAV-POSLLH - Latitude, Longitude and AltitudeNAV-STATUS - GPS Fix and DGPS statusNAV-SVINFO - Satellite DetailNAV-SOL - GPS Fix, Latitude, Longitude and Altitude in ECEF and Velocities in ECEFNAV-DOP - Dillution of PrecisionNAV-POSECEF - Latitude, Longitude and Altitude in ECEFNAV-VELECEF - Velocity in ECEFNAV-CLOCK - Clock Solution (not sure why you'd use this)NAV-TIMEGPS - GPS Clock InformationNAV-TIMEUTC - Full UTC Time/Date InformationSample Output*** uBlox 12/2/2009 4:41:50 PM = UTC: 214150.296 ***NAV-VELNED : B5 62 01 12 24 00 58 F2 1A 14 FC 06 00 00 00 00 00 00 00 00 00 00 FC 06 00 00 FC 06 00 00 00 00 00 00 11 01 00 00 00 51 25 02 3F 00NAV-POSLLH : B5 62 01 02 1C 00 58 F2 1A 14 B0 4D A1 CF AC D5 1F 1D E0 93 04 00 E0 93 04 00 06 17 00 00 3C 24 00 00 2C F5NAV-STATUS : B5 62 01 03 10 00 58 F2 1A 14 03 DD 00 00 C4 05 00 00 1D 83 00 00 D5 6ENAV-SVINFO : B5 62 01 30 C8 00 58 F2 1A 14 10 01 00 00 00 04 0D 04 10 48 05 00 D6 FB FF FF 01 0A 0D 07 28 56 5A 01 BF FF FF FF 02 0D 0D 07 20 52 E6 00 FC 02 00 00 03 17 0D 07 32 57 48 00 07 02 00 00 04 12 0D 04 14 29 59 01 5F FF FF FF 05 19 0D 04 13 2B 0E 00 0A 01 00 00 06 0B 0D 07 1A 58 DF 00 24 02 00 00 07 0E 0D 04 0C 16 0C 00 61 FD FF FF 08 20 0D 07 22 59 35 01 65 02 00 00 09 05 00 01 00 1A 46 00 25 00 00 00 0A 18 04 03 09 0A 95 00 2D 00 00 00 0B 14 0D 07 1A 43 AD 00 50 FE FF FF 0C 06 0D 04 15 40 39 00 9A 01 00 00 0D 10 0D 04 19 2E 62 01 FC 00 00 00 0E 1D 0D 04 10 44 74 00 82 FC FF FF 0F 07 0D 04 12 4B C2 00 DD FB FF FF 0F 08NAV-SOL : B5 62 01 06 34 00 58 F2 1A 14 25 D0 FD 01 18 06 03 DD CA CD DA 03 F8 51 3D E7 CF D5 7E 1C EC 04 00 00 FC 06 00 00 00 00 00 00 00 00 00 00 36 01 00 00 DC 00 00 10 42 49 00 00 63 51NAV-DOP : B5 62 01 04 12 00 58 F2 1A 14 C7 00 DB 00 61 00 B5 00 5C 00 49 00 3C 00 28 3CNAV-POSECEF: B5 62 01 01 14 00 58 F2 1A 14 CA CD DA 03 F8 51 3D E7 CF D5 7E 1C E2 04 00 00 93 96NAV-VELECEF: B5 62 01 11 14 00 58 F2 1A 14 FC 06 00 00 00 00 00 00 00 00 00 00 18 01 00 00 B9 D2NAV-CLOCK : B5 62 01 22 14 00 58 F2 1A 14 EF 74 FF FF 4A 00 00 00 0B 00 00 00 5E 06 00 00 C9 D7NAV-TIMEGPS: B5 62 01 20 10 00 58 F2 1A 14 D6 AF 13 01 18 06 0F 07 0D 00 00 00 83 A1NAV-TIMEUTC: B5 62 01 21 14 00 58 F2 1A 14 0D 00 00 00 F0 2B 8D 02 D9 07 0C 02 15 29 32 07 CA C7*** NMEA 12/2/2009 4:41:50 PM = UTC: 214150.296 ***$GPRMC,214150.296,A,4851.7535,N,08109.0744,W,34.8,0,021209,003.1,W*46$GPGGA,214150.296,4851.7535,N,08109.0744,W,1,16,0.9,300,M,0,M,,*76$GPGLL,4851.7535,N,08109.0744,W,214150.296,A*23$GPVTG,0,T,348,M,34.8,N,64.4,K,A*25$GPZDA,164150.296,02,12,2009,4,0*52$GPGSA,A,3,04,10,13,23,18,25,11,14,32,,24,20,2.21,0.93,1.79*0E$GPGSV,4,1,16,4,72,005,14,10,86,346,41,13,82,230,31,23,87,072,49*4C$GPGSV,4,2,16,18,41,345,21,25,43,014,21,11,88,223,24,14,22,012,12*73$GPGSV,4,3,16,32,89,309,34,5,26,070,0,24,10,149,8,20,67,173,24*41$GPGSV,4,4,16,6,64,057,20,16,46,354,27,29,68,116,15,7,75,194,16*71

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Comments

James S November 5, 2015 at 1:03pm

Hello everyone! I am working on a University Senior Design project and am interested in using this to test my project. I however don't know how to use the emulator in unison with u-center. If anyone knows how I might go about doing this I would be incredibly grateful!

Thanks,

James
sid December 1, 2009 at 11:28pm

Happykillmore,
I really do not know much tech details about those messages but I will ask this in Uavdev board group and get back to you.

Thanks for adding those messages.
REgards
SID..
Paul Mather December 1, 2009 at 9:15pm

Ok, new version posted v1.2.2.... It includes NAV-SOL and NAV-DOP. I have to say the calculations for LLA to ECEF were not that much fun :( But it is actually working so have at it!

NAV-DOP and all accuracy / Dillution of Precision numbers are strictly faked. If anyone knows a way to acually calculate these numbers let me know... for now they're just hard coded numbers that fluctuate up and down +/- 0.015
Developer

Jordi Muñoz December 1, 2009 at 10:25am

HappyKillmmore, the new ardupilot will use another uBlox message, i guess is NAV-SOL and will replace the NAV-STATUS. NAV-STATUS Only gives valid GPS info, but NAV-SOL also gives you the validity of the GPS, plus how many sats you have locked.
Paul Mather December 1, 2009 at 7:12am

@sid, How should I handle NAV-DOP values? How do I handle most of the values in NAV-SOL? All of these values would have to be bogus values I'm just creating on the fly. There's no way I can make real-world accuracy estimates.
Paul Mather December 1, 2009 at 5:00am

PS, my next update is going to include a null port control to create COM ports that are tied together. This will make testing of ground stations and other PC software much easier....
Paul Mather December 1, 2009 at 4:58am

Thanks Ryan and Jordi!

sid, I'll add that too :)
sid December 1, 2009 at 1:32am

HAppykillmore,
Great achievement. How abot adding DOP and SOL for Uav development board Ublox users too ? That will really help.

Thanks in advance.

SID
Developer

Jordi Muñoz December 1, 2009 at 12:50am

Best tool ever for uBlox man! Thank you!
Developer

Ryan Beall November 29, 2009 at 2:29pm

Awesome man, I love it! Just what I needed. Check out my autopilot when you get a chance I may have a deal for you....I'm looking to trade for some Groundstation work if you are interested.....

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