Hi all, Resent days RTK becoming Very popular and I came across some function called Heading to True North.
The RTK module is enabled with two antenna facing in the same direction and gives Heading Accuracy (RMS) 0.2° (1m baseline) as bellow. I can log this data along with GPGGA msg from the RTK GPS module through UART.
Hope this data can support the compass function for a better flight.
I request support to read this header msg and use it for compass function.
$GNHDT,178.7236,T*15 (,< Heading angle>,< True North>,< *Checksum>)
$HEADINGA,COM1,0,29.0,FINE,1740,367835.000,00000000,e,0;SOL_COMPUTED,NARROW_INT,0.0014,286.2120,41.0552,0.0000,416.9299,654.8104,“0”,20,17,17,17,0,01,0,c3*ce3d9c8e
Field Field Data Description Format Bytes Offset
1 HEADING header Log header H 0
2 sol stat Solution status, see Table 21 Enum 4 H
3 pos type Position type, see Table 20 Enum 4 H+4
4 length Baseline length (0 to 3000 m) Float 4 H+8
5 heading Heading (0 to 360.0 degrees) Float 4 H+12
6 pitch Pitch (±90 degrees) Float 4 H+16
7 Reserved Float 4 H+20
8 hdgstddev Heading standard deviation Float 4 H+24
9 ptchstddev Pitch standard deviation Float 4 H+28
10 stn id Base station ID Float 4 H+32
11 #SVs Number of tracked satellites Uchar 1 H+36
12 #solnSVs Number of satellites in use Uchar 1 H+37
13 #obs Number of satellites above the elevation cut-off angle Uchar 1 H+38
14 #multi Number of satellites above elevation cut-off angle with L2 Uchar 1 H+39
15 Reserved Uchar 1 H+40
16 ext sol stat Extended solution status, see Table 29 Uchar 1 H+41
17 Reserved Uchar 1 H+42
18 sig mask Signal mask, see Table 22 Uchar 1 H+43
19 xxxx 32-bit CRC (ASCII and Binary only) Hex 4 H+44
20 [CR][LF] Sentence terminator (ASCII only) _ _ _
