AP_GPS_NMEA.h File Reference

NMEA protocol parser. More...

#include "AP_GPS.h"
#include "GPS_Backend.h"

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Classes
class	AP_GPS_NMEA

Detailed Description

NMEA protocol parser.

This is a lightweight NMEA parser, derived originally from the TinyGPS parser by Mikal Hart. It is frugal in its use of memory and tries to avoid unnecessary arithmetic.

The parser handles GPGGA, GPRMC and GPVTG messages, and attempts to be robust in the face of occasional corruption in the input stream. It makes a basic effort to configure GPS' that are likely to be connected in NMEA mode (SiRF, MediaTek and ublox) to emit the correct message stream, but does not validate that the correct stream is being received. In particular, a unit emitting just GPRMC will show as having a fix even though no altitude data is being received.

GPVTG data is parsed, but as the message may not contain the the qualifier field (this is common with e.g. older SiRF units) it is not considered a source of fix-valid information.

Definition in file AP_GPS_NMEA.h.