Can Ardupilot receive nmea gps text messages or does it have to be SiRF binary?

ArduCopter
1

I am trying to generate GPS messages on a companion computer and send them to the flight controller. Nothing is going through, then I looked at the messages coming from the FC on the GPS port and I got saw this message

$PSRF100,0,38400,8,1

So it appears to be asking for the protocol to be set to SiRF binary. Is this optional? Is there a setting within Mission Planner where the the GPS port can be configured to be happy with nmea text messages?

2

Found the GPS_TYPE parameter is set to 5 (NMEA) in Mission Planner so I am not sure why it would be requesting a change.

3

Binary protocols are a lot more efficient. If you want to force Nemea you need to set GPS_AUTOCONFIG to 0

4

Thanks, that helped.