Instruction manual

Page 96 Z-12 Real-Time Sensor Operation and Reference Manual
where each field is as described in Table 4.40.
Example:
$GPALM,20,01,28,674,00,1D,09BC,FD30,A10D27,BBD4EB,8CB47B,E35E03,FFA,000
Autopilot Message
$PASHS,NME,APA
This command asks for the NMEA autopilot infomation. The structure is
$PASHS,NME,APA,x where x is the port to output the message.
$GPAPA
The response message displays autopilot navigation information in the form:
$GPAPA,c,l,eee.eee,s,N,c,A,bbb,c,sss
where each field is as described in Table 4.41
Table 4.40: ALM Structure
Field Description
tt Total number of messages 01 through 12
nn Number of this message 01 through 12
ss Satellite PRN number 01 through 32
www GPS week 3 digits
h SV health 1 ASCII hex byte
e Eccentricity 4 ASCII hex bytes
t Almanac reference time in seconds 2 ASCII hex bytes
i Inclination angle in semicircles 4 ASCII hex bytes
a Rate of ascension in semicircles 4 ASCII hex bytes
r Root of semi-major axis 6 ASCII hex bytes
p Argument of perigee semicircle 6 ASCII hex bytes
l Longitude of ascension mode in semicircles 6 ASCII hex bytes
m Mean anomoly semicircle 6 ASCII hex bytes
c Clock parameter in seconds 3 ASCII hex bytes
a Clock parameter in seconds/sec 3 ASCII hex bytes
Table 4.41: Autopilot APA Structure
FIeld Description
c Suspect or ambiguous A = valid V = invalid
l Cycle lock A = valid V = invalid