Bmartin/ESP32_test_rig
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Adding more detail to GNGGA format

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This commit is contained in:
Martin Bloudek
2025-08-30 19:03:46 +02:00
parent 1c661a7ede
commit 49ebaa35f9
1 changed files with 19 additions and 1 deletions
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20
Gnss_lidars/Gnss_lidars.ino
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@@ -27,7 +27,8 @@ LidarState lidars = IDLE;
uint8_t readMiss = 0;
// Lidar fake message
const uint8_t versionMes[] = {0xa5, 0x03, 0x20, 0x0a};
const uint8_t versionMes[] = {0xa5, 0x03, 0x20, 0x0a, 0x00, 0x00, 0x0E, 0xff, 0xff, 0xff, 0xff, 0xff, 0xf6, 0x06, 0x42, 0x00, 0x74, 0x26, 0x01, 0x00,
0x0b, 0x44}; // Checksum
const uint8_t lidarMes[] = {
0xa5, 0x03, 0x20, 0x01, 0x00, 0x00, // Start command
0x0E, // Data length
@@ -36,6 +37,23 @@ const uint8_t lidarMes[] = {
};
// GNSS fake messages
/* GNGGA format:
0 (Header) --> $GNGGA
1 (UTC time) --> 072446.00
2 (Lat) --> 3130.5226316
3 (N/S) --> N
4 (Long) --> 12024.0937010
5 (E/W) --> E
6 (Quality) --> 4
7 (num sats) --> 27
8 (HDOP) --> 0.5
9 (Alt.) --> 31.924
10 (Units) --> M
11 (Geiod. sep.)--> 0.000
12 (Units) --> M
13 (DGPS ID) --> 2.0
14 (Checksum) --> *44
*/
const char gngga[] = "$GNGGA,072446.00,3130.5226316,N,12024.0937010,E,4,27,0.5,31.924,M,0.000,M,2.0,*44";
const char gngga2[] = "$GNGGA,072446.00,3130.5526316,N,12024.1237010,E,4,27,0.5,41.924,M,0.000,M,2.0,*44";