Tutorial - Rover send NMEA/GGA to Basestation

Introduce

RTK Rover collects NMEA / GGA message and send it Server / Radio Base RTK.

The total number of rover collected at the same time can be up to 10000 different devices.

This feature is supported on MQTT Rover , NTRIP Rover and RADIO Rover.

Rover RTK

Send GGA message (from RX-UART-RTK) to Server/Radio_Base + Export GGA/NMEA to TX_UART0

FULL Size - ESPrtk MQTT NTRIP Radio LoRa Bluetooth F9P M8P F9P Ublox Navspark Ethernet ENC28J60 WW5500 MPU9250 IMU SD Card SARA 2G 3G 4G Cellular

Configure:

These configuration fields only apply when the " Send NMEA message " is enabled on Rover and the "NMEA export" is enabled on Basestation.

Max Rover

Number of Rover in NMEA collection network. Up to 10000 Rovers.

ID Rover

The ID is used to identify which Rover's NMEA / GGA message is from.

The ID on each Rover must be different and assigned from 1 to MAX_Rover.

Base's default ID is 0.

Rover send $GGA / NMEA

ESPrtk will filter $ GGA messages on RX_UART-RTK port, the maximum length limit is 250 Byte for 1 message.

If you choose to send all NMEA messages, ESPrtk will select and send all NMEA messages it sees at the time of sending.

Rover print $GGA / NMEA:

When the $ GGA and NMEA print flags are enabled, ESPrtk will print the GGA / NMEA messages it receives (on the RX-UART-RTK port) to the TX-UART0 port.



$ESPLOG|60|2|INFO|UART-TX2:43,UART-RX1:1990,UART-TX0:441,NMEA_Send:612|*0843
$GPGGA,043047.500,2034.6334095,N,10604.5509181,E,2,11,1.5,-23.581,M,-23.400,M,,0000*6B
$GPGGA,043047.750,2034.6334686,N,10604.5508610,E,2,11,1.5,-23.379,M,-23.400,M,,0000*67
$GPGGA,043052.750,2034.6348343,N,10604.5492868,E,2,10,1.6,-17.791,M,-23.400,M,,0000*60
$ESPLOG|60|2|INFO|UART-TX2:51,UART-RX1:1990,UART-TX0:438,NMEA_Send:609|*0F47

$GPGGA,043047.750,2034.6334686,N,10604.5508610,E,2,11,1.5,-23.379,M,-23.400,M,,0000*67
$GPGGA,043052.750,2034.6348343,N,10604.5492868,E,2,10,1.6,-17.791,M,-23.400,M,,0000*60
$ESPLOG|60|2|INFO|UART-TX2:51,UART-RX1:1990,UART-TX0:438,NMEA_Send:609|*0F47

$GPGGA,043047.750,2034.6334686,N,10604.5508610,E,2,11,1.5,-23.379,M,-23.400,M,,0000*67
$GPGGA,043052.750,2034.6348343,N,10604.5492868,E,2,10,1.6,-17.791,M,-23.400,M,,0000*60
$ESPLOG|60|2|INFO|UART-TX2:51,UART-RX1:1990,UART-TX0:438,NMEA_Send:609|*0F47

HOST send Disable/Enable type print NMEA/GGA

During operation, can control Enable/Disable the export of $GGA , NMEA , $ESPLOG|..|RVNMEA|.. messages by sending command to ESPrtk .

Please see [“Control Enable Type Print on TX_UART0” → PL3 → BIT7 , BIT9 ,BIT10 ] in ESPrtk datasheet to get detail Command Control infomation : Download ESPrtk datasheet .

Put ESPrtk command to RX_UART0	Detail
$ESP_OK\|19\|T\|P\|0\|000000000000\|*2157	Disable Print ALL output UART_0
$ESP_OK\|19\|T\|P\|0\|111111011111\|*2056	Disable Base print Status NMEA from Rover and Enable ALL other types
$ESP_OK\|19\|T\|P\|0\|000000100000\|*2156	Enable only Base print Status NMEA from Rover , and Disable ALL other types
$ESP_OK\|19\|T\|P\|0\|000000001100\|*2156	Enable print Only $GGA + NMEA message , and Disable ALL other types
$ESP_OK\|19\|T\|P\|0\|000000000100\|*2057	Enable print Only NMEA message, and Disable ALL other types
$ESP_OK\|19\|T\|P\|0\|000000001000\|*2056	Enable print Only $GGA message,and Disable ALL other types
$ESP_OK\|19\|T\|P\|0\|111111111111\|*2157	Enable Print ALL output UART_0

These flags can be Disabled/Enable permanently in ESPrtk's System settings, see more here : System - ESPrtk PRINT + ERROR manager .