| 424 | | [=#condor] |
| 425 | | === '''Trimble Condor''' 68674-00 C1011 (GW2380, GW2382, GW2383, GW2387, GW2388, GW2389, GW2391) === |
| 426 | | |
| 427 | | References: |
| 428 | | * [http://dev.gateworks.com/datasheets/CONDOR_UG_2C_75263-00.pdf Trimble Condor User Guide] |
| 429 | | * [http://dev.gateworks.com/datasheets/Condor_DS.pdf Datasheet] |
| 430 | | * Trimble TSIP reference manual (obtain from Trimble) |
| 431 | | * Trimble TAIP Protocol Reference (obtain from Trimble) |
| 432 | | |
| 433 | | Features: |
| 434 | | * 22-channel continuous tracking receiver: |
| 435 | | - [#gps GPS]: L1C/A (1575.42MHz) |
| 436 | | - [#sbas SBAS]: WAAS: L1C/A (1575.42MHz) (disabled by default) |
| 437 | | * [#dgps Differential GPS] (DGPS) |
| 438 | | * Acquisition: cold start - 38 sec 50% |
| 439 | | * Sensitivity: Tracking -160dBm / Acquisition -146dBm |
| 440 | | * Accuracy: |
| 441 | | * Horizontal w/o SBAS: <2.5m 50%, <5m 90% |
| 442 | | * Horizontal w/ SBAS: <2.0m 50%, <4m 90% |
| 443 | | * Altitude w/o SBAS: <5m 50%, <8m 90% |
| 444 | | * Altitude w/ SBAS: <3m 50%, <5m 90% |
| 445 | | * Velocity: 0.06m/sec |
| 446 | | * PPS: +25ns 1 sigma |
| 447 | | * Communication: |
| 448 | | * 8 data bits, no parity, 1 stop bit (aka '''8N1''' or '''cs8'''), no flow control |
| 449 | | * baudrate: can vary between 4800 and 115200 - refer to user guide for details on changing baudrate |
| 450 | | * [#nmea0183 NMEA 0183] v3.0, 1Hz - 5Hz NMEA update rate, supports: GLL, RMC, VTG, GGA, GSA, GSV, ZDA messages |
| 451 | | * TSIP (Trimble Standard Interface Protocol) |
| 452 | | * TAIP (Trimble ASCII Interface Protocol) |
| 453 | | * [#pps PPS]: |
| 454 | | * ±25ns 1 sigma accuracy, configurable pulse width between 61ns and 998ms and configurable delay between 61ns and 998ms (see [http://dev.gateworks.com/datasheets/CONDOR_UG_2C_75263-00.pdf PMTK_API_SET_OUTPUT_CTL (PMTK324)]) |
| 455 | | * need to increase the PPS pulse width from the default 4.2us for pps-gpio to detect: |
| 456 | | {{{#!bash |
| 457 | | echo -n -e "\$PMTK324,0,0,1,0,1639344*24\r\n" > /dev/ttyS2 # 100ms pulse width on fix |
| 458 | | }}} |
| 459 | | * if you want to also assert PPS when GPS position is not yet fixed: |
| 460 | | {{{#!bash |
| 461 | | echo -n -e "\$PMTK324,0,0,1,1,1639344*25\r\n" > /dev/ttyS2 # 100ms pulse width no fix |
| 462 | | }}} |
| 463 | | |
| 464 | | Power-on Default configuration: |
| 465 | | * 9600 baud |
| 466 | | * output NMEA {{{RMC}}}, {{{GGA}}}, {{{GSV}}}, and {{{GSA}}} messages 1 time for every position fix (1Hz) |
| 467 | | * PPS: 4.2us active-high with no GPS fix required ('''see above for details on increasing pulse-width if you want to use PPS''') |
| 468 | | |
| 469 | | ==== NMEA Configuration ==== |
| 470 | | The types of NMEA messages and their rates can be configured by sending {{{PMTK}}} messages. |
| 471 | | |
| 472 | | Refer to the User guide for a full listing. |
| 473 | | |
| 474 | | Notes: |
| 475 | | * be sure to re-calculate the checksum using the [http://www.hhhh.org/wiml/proj/nmeaxor.html online NMEA sentence checksum calculator] |
| 476 | | * be sure to choose the correct serial port and baudrate found [#hardware above] |
| 477 | | |
| 478 | | Common configuration items: |
| 479 | | * PMTK251 - Set NMEA baud rate |
| 480 | | * PMTK313 - Set SBAS enable |
| 481 | | * PMTK314 - Set NMEA sentence types and frequency (only RMC, GGA, GSV, and GSA are enabled by default) |
| 482 | | |
| 483 | | Examples: |
| 484 | | * To turn on {{{VTG}}} messages at 1Hz (course over ground and ground speed) (disabled by default): |
| 485 | | {{{#!bash |
| 486 | | stty -F /dev/gpsdevice 4800 cs8 |
| 487 | | echo -n -e "\$PMTK314,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n" > /dev/gpsdevice |
| 488 | | }}} |
| 489 | | |
| 490 | | |
