Moderator Comment by Paul Mather on May 11, 2011 at 4:55am

How far have you made it? What did you end up using for your protocol?

Comment by shailendra singh on May 11, 2011 at 10:29am

Sir, as i told u that i am doing this all on my own without guidance,,,so at present i m just forcing the NMEA string to go through USART1 to Tx xbee attached to it which is being received at the RX xbee attached to the laptop.Actually i didnt find mine programming skills good enough..but i am trying.Due to heptic schedule of final semister, i am not getting time to learn more.   hopefully aftre my Btech i will focus fully upon it.

Moderator Comment by Paul Mather on May 11, 2011 at 10:45am

As I suggested in the other thread...your plans were to inject some other value in the NMEA string, right? It was heading? Are you going to have an IMU on board? If so, you'll want to inject pitch and roll too....that's why I suggested reading the NMEA strings and parsing them (which I assume you are already doing for lat, long, alt), right? So pick out the parts you want and I can help you get them into the ArduPilot Legacy format. It will be sooooo much easier to just pass the variables you need than parse and rebuild those 2 NMEA sentences on the auto pilot.....

 

Tell me the variables you want to send to the ground and I'll show you what the output message needs to look like. Believe me, it will be soooo much easier to do it that way!!!

Comment by shailendra singh on May 11, 2011 at 11:15pm

Sir,
well i am not using a IMU but a bunch of discrete sensors 3 axis accelerometer, single axis yaw rate gyroscope and magnetic compas having I2C interface.Earlier i had worked with them regarding getting the Digital output on LCD but i wasnt able to get exact inclination using kalman filter in embedded c.Infact i was able to get that heading info using magnetic compass.

i had done parsing of NMEA string in C and took out the latitude ,longitude,altitude and date and time.i can improve that to took out the no of satelite locked but that will be in c.
i would be adding heading info to the parsed gps string data

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