This version is outdated by a newer approved version.
This version (2021/04/03 17:11) is a draft.
Approvals: 0/1
This version (2021/04/03 17:11) is a draft.Approvals: 0/1
This is an old revision of the document!
Protocole de communication pour le RTKronos
tags: RTK, Kronos, RTKronos, communication
1. Utilisation
La carte renvoie toutes les secondes la position et l'orientation de déplacement données par le GPS.
Ces informations sont disponibles sur le port série et le port SPI du module XLBee 2 (SOCKET 2 sur la carte).
2. Protocole
- [0:1] : (uint16) packet_id
- [2:3] : (uint16) packet_length
- [4:packet_length] : payload
2.1 Payload format for every packet ID/type
2.1.1 Id **0x0001**: Complete position information
| Field | Format | Description | Offset |
|---|---|---|---|
| sol status | Enum (4 octets) | 0 | |
| pos type | Enum (4 octets) | 4 | |
| lat | Double (8 octets) | Latitude | 8 |
| lon | Double (8 octets) | Longitude | 16 |
| hgt | Double (8 octets) | Height (altitude) | 24 |
| undulation | Float (4 octets) | Geoid undulation (distance between the geoid and the WGS84 ellipsoid in meter) | 32 |
| datum id# | Enum | ID code of coordinate system, onlysupporting WGS84 at present, ID: WE | 36 |
| lat σ | Float (4 octets) | Latitude standard deviation | 40 |
| lon σ | Float (4 octets) | Longitude standard deviation | 44 |
| hgt σ | Float (4 octets) | Height standard deviation | 48 |
| stn id | Char[4] | Base station ID | 52 |
| diff_age | Float (4 octets) | Differential age in seconds | 56 |
| sol_age | Float (4 octets) | Solution age in seconds | 60 |
| #SVs | uint8 | Number of satellite tracked | 64 |
| #solnSVs | uint8 | Number of satellite used in solution | 65 |
| sig mask | Enum (1 octet) | 66 |