Re: GNSS

["Scott Murray" <scott.murray@xxxxxxxxxxxx>]

On Mon, 28 Mar 2022, Vasyl Vavrychuk wrote:

> Hi, Scott,
>
> >     According to AGL RefHW spec it has GNSS board
> >     Do you know if it is actually present? Do you plan to support it?
> >
> >
> > Yes and yes.  I've not tested it recently, but it should work and the
> > support to have gpsd work out of the box is in Lamprey and master/Marlin. 
> > There is a slight complication with respect to the configuration because of
> > the reuse of the h3ulcb images, take a look at
> > meta-agl-bsp/meta-agl-refhw-gen3/recipes-navigation/gpsd/gpsd-conf-refhw_1.0.bb
>
> Seems I can not receive satelite data (check logs below). Do you use GPS
> antenna? Could my problem be due to specific board location, office building
> creating interference, etc.?
>
> sh-5.0# gpspipe -w
> {"class":"VERSION","release":"3.19","rev":"3.19","proto_major":3,"proto_minor":14}
> {"class":"DEVICES","devices":[{"class":"DEVICE","path":"/dev/ttySC3","driver":"NMEA0183","activated":"2021-12-01T22:42:14.031Z","flags":1,"native":0,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00}]}
> {"class":"WATCH","enable":true,"json":true,"nmea":false,"raw":0,"scaled":false,"timing":false,"split24":false,"pps":false}
> {"class":"TPV","device":"/dev/ttySC3","mode":1}
> {"class":"TPV","device":"/dev/ttySC3","mode":1}
> {"class":"TPV","device":"/dev/ttySC3","mode":0}
> {"class":"TPV","device":"/dev/ttySC3","mode":0}
> {"class":"TPV","device":"/dev/ttySC3","mode":1}
> {"class":"TPV","device":"/dev/ttySC3","mode":1}

I just tested with gpsmon and "gpspipe -w" here in a Marlin build, and
it's definitely working for me with the antenna that Panasonic provided
with the board:

root@h3ulcb:~# gpspipe -w
{"class":"VERSION","release":"3.19","rev":"3.19","proto_major":3,"proto_minor":14}
{"class":"DEVICES","devices":[{"class":"DEVICE","path":"/dev/ttySC3","driver":"NMEA0183","activated":"2022-03-31T16:05:36.470Z","flags":1,"native":0,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00}]}
{"class":"WATCH","enable":true,"json":true,"nmea":false,"raw":0,"scaled":false,"timing":false,"split24":false,"pps":false}
{"class":"TPV","device":"/dev/ttySC3","mode":3,"time":"2022-03-31T16:05:37.000Z","ept":0.005,"lat":43.707216000,"lon":-79.340760833,"alt":243.300,"speed":0.011,"climb":0.083,"eph":20.520}
{"class":"SKY","device":"/dev/ttySC3","xdop":0.65,"ydop":0.87,"vdop":1.68,"tdop":1.06,"hdop":1.08,"gdop":2.27,"pdop":1.99,"satellites":[{"PRN":8,"el":76,"az":132,"ss":32,"used":true,"gnssid":0,"svid":8},{"PRN":16,"el":23,"az":69,"ss":42,"used":true,"gnssid":0,"svid":16},{"PRN":21,"el":20,"az":142,"ss":33,"used":true,"gnssid":0,"svid":21},{"PRN":27,"el":50,"az":56,"ss":44,"used":true,"gnssid":0,"svid":27},{"PRN":71,"el":26,"az":301,"ss":36,"used":true,"gnssid":6,"svid":7},{"PRN":73,"el":26,"az":302,"ss":32,"used":true,"gnssid":6,"svid":9},{"PRN":81,"el":38,"az":45,"ss":41,"used":true,"gnssid":6,"svid":17},{"PRN":82,"el":53,"az":121,"ss":39,"used":true,"gnssid":6,"svid":18}]}
{"class":"TPV","device":"/dev/ttySC3","mode":3,"time":"2022-03-31T16:05:37.000Z","ept":0.005,"lat":43.707216000,"lon":-79.340760833,"alt":243.300,"epx":9.795,"epy":12.988,"epv":38.640,"speed":0.011,"climb":0.083,"eps":4.46,"epc":15.49,"eph":20.520,"sep":37.810}
{"class":"TPV","device":"/dev/ttySC3","mode":3,"time":"2022-03-31T16:05:38.000Z","ept":0.005,"lat":43.707215833,"lon":-79.340760833,"alt":243.300,"epx":9.795,"epy":12.988,"epv":38.640,"speed":0.032,"climb":0.000,"eps":25.98,"epc":77.28,"eph":20.520,"sep":37.810}
{"class":"SKY","device":"/dev/ttySC3","xdop":0.65,"ydop":0.87,"vdop":1.68,"tdop":1.06,"hdop":1.08,"gdop":2.27,"pdop":2.00,"satellites":[{"PRN":8,"el":76,"az":132,"ss":30,"used":true,"gnssid":0,"svid":8},{"PRN":16,"el":23,"az":69,"ss":39,"used":true,"gnssid":0,"svid":16},{"PRN":21,"el":20,"az":142,"ss":29,"used":true,"gnssid":0,"svid":21},{"PRN":27,"el":50,"az":56,"ss":40,"used":true,"gnssid":0,"svid":27},{"PRN":71,"el":26,"az":301,"ss":36,"used":true,"gnssid":6,"svid":7},{"PRN":73,"el":26,"az":302,"ss":31,"used":true,"gnssid":6,"svid":9},{"PRN":81,"el":38,"az":45,"ss":41,"used":true,"gnssid":6,"svid":17},{"PRN":82,"el":53,"az":121,"ss":39,"used":true,"gnssid":6,"svid":18}]}
{"class":"TPV","device":"/dev/ttySC3","mode":3,"time":"2022-03-31T16:05:38.000Z","ept":0.005,"lat":43.707215833,"lon":-79.340760833,"alt":243.300,"epx":9.795,"epy":12.988,"epv":38.640,"speed":0.032,"climb":0.000,"eps":25.98,"epc":77.28,"eph":20.520,"sep":37.810}
{"class":"TPV","device":"/dev/ttySC3","mode":3,"time":"2022-03-31T16:05:39.000Z","ept":0.005,"lat":43.707215333,"lon":-79.340760667,"alt":243.300,"epx":9.795,"epy":12.988,"epv":38.640,"speed":0.011,"climb":0.000,"eps":25.98,"epc":77.28,"eph":20.520,"sep":38.000}
... etc. ...

So probably worth checking your antenna positioning.

Scott


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