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How to get Heading from Parallax VON1513 GPS Module? — Parallax Forums

How to get Heading from Parallax VON1513 GPS Module?

TylerSkylerTylerSkyler Posts: 72
edited 2012-06-02 22:25 in Propeller 1
Hey All! I'm using the Parallax Gps Module(This one) in a robotics project. I have been able to get Lat and Long points using:
CON


_clkmode = xtal1 + pll16x
_xinfreq = 5_000_000


  GetLat   = $05
  GetLong  = $06






VAR


  long stack[30]
OBJ

   GPS    :  "FullDuplexSerial"
  

PUB Main
     GPS.start(5, 5, 00, 9600)
     cognew(GetGpsData,@stack)


PUB GetGpsData

  repeat
    GPS.str(string("!GPS"))                   ' GPS command header
    GPS.tx(GetLat)                            '  for latitude
    WriteVal
    Debug.str(string(","))
    GPS.str(string("!GPS"))                   ' GPS command header
    GPS.tx(GetLong)                           '  for longitude
    WriteVal
    Debug.str(string(13))


PRI  WriteVal | Degrees, Minutes, MinutesD, Dir


  WaitCnt(ClkFreq / 10 + Cnt)                 ' 1/10 second wait


  Degrees := GPS.rx                           ' Retrieve bytes from GPS
  Minutes := GPS.rx
  MinutesD := (GPS.rx << 8) | GPS.rx
  Dir := GPS.rx==1


  if dir == -1                                ' If Dir = -1, prepend - sign
    Debug.str(string("-"))
  Debug.dec(Degrees)
  Debug.str(string("."))


  workVal := (Minutes * 1000 / 6) + (MinutesD / 60)
  Debug.dec(workVal)

But I cant seem to figure out how to "serin" the head(which is a word and has a value of $09). I know it is two bytes, but how do you receive them and then combine them to create the heading from the gps module? All help or suggestions are appreciated!

Thanks,

Tyler

Comments

  • GordonMcCombGordonMcComb Posts: 3,366
    edited 2012-06-02 20:26
    You use the same bit-shifting technique as demonstrated for the decimal minutes portion:

    SomeVar := (GPS.rx << 8) | GPS.rx

    This places the values returned in two successive byte reads from the GPS into a single variable. The first byte is shifted up by eight bits; the second byte takes the lower eight bits. Viola! A 16-bit value, suitable for framing and catching fish.

    Do note that heading is inaccurate if the module is not moving. Anything under 5-10 MPH cannot be trusted.

    -- Gordon
  • TylerSkylerTylerSkyler Posts: 72
    edited 2012-06-02 21:11
    Thanks Gordon! Works like a treat. here is a log of my numbers where it goes Lat, Long, Heading
    35.4035,-118.9375,3533
35.4035,-118.9375,3401
35.4035,-118.9375,3401
35.4036,-118.9376,3401
35.4036,-118.9376,3363
35.4036,-118.9376,3363
35.4036,-118.9376,3363
35.4036,-118.9376,3362
35.4036,-118.9376,3362
35.4036,-118.9376,3359
35.4037,-118.9376,3359
35.4037,-118.9376,3351
35.4037,-118.9377,3351
35.4038,-118.9377,3347
35.4038,-118.9377,3347
35.4038,-118.9377,3347
35.4038,-118.9377,3330
35.4038,-118.9377,3330
35.4038,-118.9378,3295
35.4039,-118.9378,3295
35.4040,-118.9378,3270
35.4040,-118.9378,3270
35.4040,-118.9379,3270
35.4040,-118.9379,3263
35.4041,-118.9379,3263
35.4041,-118.9379,3263
35.4041,-118.9379,3258
35.4041,-118.9379,3258
35.4042,-118.9380,3254
35.4043,-118.9381,3254
35.4043,-118.9381,3238
35.4043,-118.9381,3238
35.4043,-118.9381,3173
35.4043,-118.9381,3173
35.4044,-118.9382,3173
35.4044,-118.9382,3051
35.4044,-118.9382,3051
35.4044,-118.9383,2895
35.4044,-118.9384,2895
35.4044,-118.9384,2761
35.4044,-118.9384,2761
35.4044,-118.9385,2686
35.4044,-118.9385,2686
35.4044,-118.9386,2686
35.4044,-118.9386,2686
35.4044,-118.9386,2597
35.4044,-118.9386,2564
35.4044,-118.9387,2564
35.4044,-118.9388,2564
35.4044,-118.9388,2564
35.4044,-118.9390,2564
35.4044,-118.9390,2563
35.4044,-118.9390,2563
35.4043,-118.9391,2563
35.4043,-118.9391,2563
35.4043,-118.9391,2563
35.4043,-118.9392,2557
35.4043,-118.9393,2557
35.4043,-118.9393,2525
35.4043,-118.9393,2525
35.4042,-118.9394,2437
35.4042,-118.9394,2437
35.4042,-118.9395,2437
35.4042,-118.9395,2437
35.4042,-118.9395,2301
35.4042,-118.9395,2177
35.4041,-118.9396,2177
35.4040,-118.9396,2046
35.4040,-118.9396,2046
35.4040,-118.9397,2046
35.4040,-118.9397,1922
35.4040,-118.9397,1922
35.4039,-118.9397,1922
35.4039,-118.9397,1873
35.4039,-118.9397,1873
35.4038,-118.9397,1879
35.4037,-118.9397,1879
35.4037,-118.9397,1884
35.4037,-118.9397,1884
35.4036,-118.9397,1883
35.4036,-118.9397,1883
35.4035,-118.9397,1883
35.4035,-118.9397,1883
35.4035,-118.9397,1915
35.4035,-118.9398,1929
35.4034,-118.9398,1929
35.4034,-118.9398,1988
35.4034,-118.9398,1988
35.4034,-118.9398,1988
35.4034,-118.9398,2139
35.4034,-118.9398,2139
35.4034,-118.9398,2139
35.4034,-118.9398,2229
35.4034,-118.9398,2229
35.4034,-118.9398,2274
35.4034,-118.9398,2274
35.4034,-118.9398,2444
35.4034,-118.9399,2444
35.4033,-118.9399,2593
35.4033,-118.9399,2593
35.4033,-118.9400,2593
35.4033,-118.9400,2593
35.4033,-118.9400,2643
35.4033,-118.9401,2688
35.4033,-118.9402,2688
35.4033,-118.9402,2703
35.4033,-118.9402,2703
35.4033,-118.9403,2703
35.4033,-118.9403,2706
35.4033,-118.9404,2706
35.4033,-118.9404,2706
35.4033,-118.9404,2718
35.4033,-118.9404,2718
35.4033,-118.9405,2715
35.4033,-118.9406,2715
35.4033,-118.9406,2710
35.4033,-118.9407,2710
35.4033,-118.9407,2719
35.4033,-118.9407,2719
35.4033,-118.9407,2719
35.4033,-118.9407,2778
35.4033,-118.9407,2778
35.4033,-118.9407,2825
35.4033,-118.9407,2825
35.4033,-118.9407,2885
35.4033,-118.9407,2885
35.4033,-118.9408,2985
35.4033,-118.9408,2985
35.4034,-118.9408,2985
35.4034,-118.9408,2985
35.4034,-118.9408,3054
35.4034,-118.9408,3198
35.4034,-118.9408,3198
35.4034,-118.9408,3198
35.4034,-118.9408,3331
35.4035,-118.9408,3331
35.4035,-118.9408,3457
35.4035,-118.9408,3457
35.4035,-118.9408,3457
35.4035,-118.9408,3569
35.4035,-118.9408,3569
35.4036,-118.9408,33
35.4036,-118.9408,33
35.4037,-118.9408,39
35.4037,-118.9408,39
35.4038,-118.9408,46
35.4038,-118.9408,46
35.4039,-118.9408,46
35.4039,-118.9408,46
35.4039,-118.9408,32
35.4039,-118.9408,3599
35.4040,-118.9408,3599
35.4041,-118.9408,7
35.4041,-118.9408,7
35.4042,-118.9408,7
35.4042,-118.9408,15
35.4042,-118.9408,15
35.4043,-118.9408,15
35.4043,-118.9408,13
35.4043,-118.9408,13
35.4044,-118.9408,29
35.4045,-118.9408,29
35.4045,-118.9408,23
35.4045,-118.9408,23
35.4046,-118.9408,25
35.4046,-118.9408,25
35.4047,-118.9408,25
35.4047,-118.9408,25
35.4047,-118.9408,29
35.4047,-118.9408,41
35.4048,-118.9408,41
35.4049,-118.9408,60
35.4049,-118.9408,60
35.4049,-118.9408,60
35.4049,-118.9408,93
35.4049,-118.9408,93
35.4049,-118.9408,93
35.4049,-118.9408,61
35.4049,-118.9408,61
35.4049,-118.9408,1
35.4049,-118.9408,1
35.4049,-118.9408,1419
35.4049,-118.9408,1419
35.4049,-118.9408,1377
35.4049,-118.9408,1377
35.4049,-118.9408,1377
35.4049,-118.9408,1377
35.4049,-118.9408,1668
35.4049,-118.9408,590
35.4049,-118.9408,590
35.4049,-118.9408,262
35.4049,-118.9408,262
35.4049,-118.9408,262
35.4049,-118.9408,233
35.4050,-118.9407,233
35.4050,-118.9407,233
35.4050,-118.9407,424
35.4050,-118.9407,424
35.4050,-118.9407,597
35.4050,-118.9406,597
35.4050,-118.9406,759
35.4050,-118.9406,759
35.4050,-118.9406,882
35.4050,-118.9406,882
35.4050,-118.9405,882
35.4050,-118.9405,909
35.4050,-118.9405,909
35.4050,-118.9404,899
35.4050,-118.9403,899
35.4050,-118.9403,879
35.4050,-118.9403,879
35.4050,-118.9401,861
35.4050,-118.9401,861
35.4050,-118.9400,861
35.4050,-118.9400,861
35.4050,-118.9400,841
35.4050,-118.9400,841
35.4051,-118.9399,828
35.4051,-118.9397,828
35.4051,-118.9397,817
35.4051,-118.9396,817
35.4051,-118.9396,804
35.4051,-118.9396,804
35.4051,-118.9395,804
35.4051,-118.9395,789
35.4051,-118.9395,789
35.4051,-118.9393,773
35.4051,-118.9392,773
35.4052,-118.9392,758
35.4052,-118.9392,758
35.4052,-118.9390,740
35.4052,-118.9390,740
35.4052,-118.9389,740
35.4052,-118.9389,740
35.4052,-118.9389,727
35.4052,-118.9389,720
35.4053,-118.9387,720
35.4053,-118.9386,710
35.4053,-118.9386,710
35.4054,-118.9385,710
35.4054,-118.9385,703
35.4054,-118.9383,703
35.4054,-118.9383,703
35.4054,-118.9383,697
35.4054,-118.9383,697
35.4054,-118.9382,693
35.4055,-118.9381,693
35.4055,-118.9381,695
35.4055,-118.9381,695
35.4055,-118.9380,704
35.4055,-118.9380,704
35.4055,-118.9380,704
35.4055,-118.9380,704
35.4055,-118.9380,722
35.4055,-118.9380,775
35.4055,-118.9379,775
35.4055,-118.9379,827
35.4055,-118.9379,827
35.4055,-118.9379,827
35.4055,-118.9379,867
35.4055,-118.9379,867
35.4055,-118.9379,867
35.4055,-118.9379,940
35.4055,-118.9379,940
35.4055,-118.9378,1103
35.4055,-118.9378,1103
35.4055,-118.9378,1340
35.4055,-118.9378,1340
35.4054,-118.9378,1494
35.4054,-118.9378,1494
35.4054,-118.9377,1494
35.4054,-118.9377,1494
35.4054,-118.9377,1532
35.4054,-118.9377,1532
35.4053,-118.9377,1532
35.4052,-118.9376,1522
35.4052,-118.9376,1522
35.4051,-118.9376,1522
35.4051,-118.9376,1510
35.4051,-118.9375,1510
35.4050,-118.9375,1510
35.4050,-118.9375,1495
35.4050,-118.9375,1495
35.4049,-118.9374,1472
35.4048,-118.9373,1472
35.4048,-118.9373,1447
35.4048,-118.9373,1447
35.4047,-118.9373,1432
35.4047,-118.9373,1432
35.4046,-118.9372,1432
35.4046,-118.9372,1417
35.4046,-118.9372,1417
35.4046,-118.9371,1403
35.4045,-118.9370,1403
35.4044,-118.9370,1391
35.4044,-118.9370,1391
35.4043,-118.9369,1391
35.4043,-118.9369,1378
35.4042,-118.9368,1378
35.4042,-118.9368,1378
35.4042,-118.9368,1358
35.4042,-118.9368,1358
35.4042,-118.9367,1340
35.4041,-118.9366,1340
35.4041,-118.9366,1326
35.4041,-118.9365,1326
35.4040,-118.9365,1326
35.4040,-118.9365,1326
35.4040,-118.9364,1326
35.4040,-118.9364,1355
35.4040,-118.9364,1355
35.4040,-118.9364,1436
35.4039,-118.9364,1436
35.4039,-118.9364,1581
35.4039,-118.9364,1581
35.4038,-118.9363,1749
35.4038,-118.9363,1749
35.4038,-118.9364,1749
35.4038,-118.9364,1749
35.4038,-118.9364,1915
35.4038,-118.9364,1941
35.4037,-118.9364,1941
35.4037,-118.9364,1914
35.4037,-118.9364,1914
35.4036,-118.9364,1914
35.4036,-118.9364,1881
35.4036,-118.9364,1881
35.4035,-118.9364,1881
35.4035,-118.9364,1843
35.4035,-118.9364,1843
35.4034,-118.9364,1822
35.4033,-118.9364,1822
35.4033,-118.9364,1815
35.4033,-118.9364,1815
35.4032,-118.9364,1811
35.4032,-118.9364,1811
35.4031,-118.9364,1811
35.4031,-118.9364,1811
35.4031,-118.9364,1811
35.4031,-118.9364,1813
35.4030,-118.9364,1813
35.4029,-118.9364,1813
35.4029,-118.9364,1813
35.4029,-118.9364,1813
35.4029,-118.9364,1808
35.4029,-118.9364,1808
35.4028,-118.9364,1808
35.4028,-118.9364,1804
35.4028,-118.9364,1804
35.4027,-118.9364,1796
35.4027,-118.9364,1796
35.4027,-118.9364,1786
35.4027,-118.9364,1786
35.4027,-118.9364,1773
35.4027,-118.9364,1773
35.4027,-118.9364,1773
35.4027,-118.9364,1773
35.4027,-118.9364,1721
35.4027,-118.9364,1748
35.4026,-118.9364,1748
35.4026,-118.9364,1649
35.4026,-118.9364,1649
35.4026,-118.9364,1649
35.4026,-118.9364,1481
35.4026,-118.9364,1481
35.4026,-118.9364,1481
35.4026,-118.9364,1255
35.4026,-118.9364,1255
35.4026,-118.9363,1049
35.4026,-118.9362,1049
35.4026,-118.9362,895
35.4026,-118.9361,895
35.4026,-118.9361,873
35.4026,-118.9361,873
35.4026,-118.9360,873
35.4026,-118.9360,873
35.4026,-118.9360,888
35.4026,-118.9359,922
35.4026,-118.9358,922
35.4026,-118.9358,927
35.4026,-118.9358,927
35.4026,-118.9357,927
35.4026,-118.9357,906
35.4026,-118.9356,906
35.4026,-118.9356,906
35.4026,-118.9356,918
35.4026,-118.9356,918
35.4026,-118.9354,904
35.4026,-118.9353,904
35.4026,-118.9353,906
35.4026,-118.9351,906
35.4026,-118.9351,907
35.4026,-118.9351,907
35.4026,-118.9350,907
35.4026,-118.9350,902
35.4026,-118.9350,902
35.4026,-118.9348,898
35.4026,-118.9347,898
35.4026,-118.9347,900
35.4026,-118.9347,900
35.4026,-118.9345,901
35.4026,-118.9345,901
35.4026,-118.9344,901
35.4026,-118.9344,901
35.4026,-118.9344,897
35.4026,-118.9344,894
35.4026,-118.9342,894
35.4026,-118.9341,894
35.4026,-118.9341,893
35.4026,-118.9339,893
35.4026,-118.9339,893
35.4026,-118.9339,893
35.4026,-118.9338,893
35.4026,-118.9338,892
35.4026,-118.9338,892
35.4026,-118.9336,897
35.4026,-118.9335,897
35.4026,-118.9335,900
35.4026,-118.9335,900
35.4026,-118.9333,899
35.4026,-118.9333,899
35.4026,-118.9331,899
35.4026,-118.9331,899
35.4026,-118.9331,899
35.4026,-118.9331,913
35.4026,-118.9330,913
35.4026,-118.9328,968
35.4026,-118.9328,968
35.4026,-118.9327,968
35.4026,-118.9327,1040
35.4026,-118.9325,1040
35.4025,-118.9325,1040
35.4025,-118.9325,1118
35.4025,-118.9325,1118
35.4025,-118.9324,1186
35.4024,-118.9322,1186
35.4024,-118.9322,1229
35.4024,-118.9322,1229
35.4023,-118.9321,1255
35.4023,-118.9321,1255
35.4022,-118.9319,1255
35.4022,-118.9319,1255
35.4022,-118.9319,1256
35.4022,-118.9319,1255
35.4022,-118.9318,1255
35.4021,-118.9317,1255
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35.4020,-118.9315,1255
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35.4020,-118.9314,1255
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35.4019,-118.9314,1254
35.4019,-118.9314,1254
35.4019,-118.9313,1258
35.4018,-118.9312,1258
35.4018,-118.9312,1283
35.4018,-118.9311,1283
35.4017,-118.9311,1349
35.4017,-118.9311,1349
35.4016,-118.9310,1349
35.4016,-118.9310,1349
35.4016,-118.9310,1425
35.4016,-118.9309,1504
35.4015,-118.9309,1504
35.4015,-118.9309,1579
35.4015,-118.9309,1579
35.4014,-118.9308,1579
35.4014,-118.9308,1650
35.4013,-118.9308,1650
35.4013,-118.9308,1650
35.4013,-118.9308,1719
35.4013,-118.9308,1719
35.4011,-118.9308,1765
35.4010,-118.9308,1765
35.4010,-118.9308,1782
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35.4009,-118.9308,1783
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35.3991,-118.9308,1840
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35.3990,-118.9313,2707
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35.4036,-118.9374,1165
35.4036,-118.9374,1190


    The numbers defiantly aren't in degrees, but they seem consistant in that one direction yields the same number. Is there a way to convert these numbers into degrees or have I done something wrong here is my code for the capture:
    PUB GetGpsData




  repeat
    GPS.str(string("!GPS"))
    GPS.tx(GetLat)
    WriteVal
    Debug.str(string(","))
    GPS.str(string("!GPS"))
    GPS.tx(GetLong)
    WriteVal
    Debug.str(string(","))
    GPS.str(string("!GPS"))
    GPS.tx(GetHead)
    WaitCnt(ClkFreq / 10 + Cnt)
    Head := (GPS.rx << 8) | GPS.rx
    Debug.dec(Head)
    Debug.str(string(13))
    WaitCnt(ClkFreq / 10 + Cnt)

    Thanks,

    Tyler
  • GordonMcCombGordonMcComb Posts: 3,366
    edited 2012-06-02 22:15
    Looks like degrees. Just lop off the last digit; it's the tenths of degrees -- 3359 is 335.9 degrees. You don't really need it down to tenths, as it's not all that accurate anyway. If you need accurate heading you should go with a magnetometer/compass, and even then it has to be tilt compensated (if the sensor is not level) using an accelerometer.

    -- Gordon
  • TylerSkylerTylerSkyler Posts: 72
    edited 2012-06-02 22:25
    Ohhhh...Duh!! How did I not see that. Thanks Gordon for your help. For my purposes the heading seems to be accurate enough thankfully

    Thanks,

    Tyler
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