Knio
Furuno messages incomplete
@JoepdeJong I assume your changes have made it into version 1.19.0? If so it seems that your addition of the furuno messages isn't all encompassing. The fields don't seem to be fully defined. Based on my webcrawling the values and limits are based on: manual
Attitude message: ATT (Proprietary): incl. yaw, pitch roll data [0, 359.9], [-90, 90], [-90, 90] $PFEC,GPatt,xxx.x,+xx.x,+xx.xhh<CR><LF> (Ver. 2.0) sample: "$PFEC,GPatt,194.483,-0.963,17.17258"
Heave message: HVE (Proprietary): incl. heave data unit in m [-99.999, 99.999], A/V $PFEC,GPhve,xxx.x,Ahh<CR><LF> (Ver. 2.1) "$PFEC,GPhve,-0.114,A16",
Additionally I'm still looking for a description of the IMU message GPimu "$PFEC,GPimu,0.210,0.056,-0.023,0,-0.654,0.448,0.486,0,0*42",
I'm planning on 'reverse engineering' GPimu, but that will require some vessel data analysis and might take some time.
It appears there may be differences in the versioning of NMEA messages. I am not certain how to tackle that..
Also, I have been unable to find documentation for the $PFEC,GPimu NMEA sentence for Furuno devices. However, I have come across implementations on GitHub that utilize the standard $GPimu sentence. https://github.com/search?q=%22%24GPimu%22&type=code
Based on these implementations, the GPimu sentence is formatted as follows:
| $GPIMU | time of week | accel-x | accel-y | accel-z | gyro-x | gyro-y | gyro-z |
|---|
This might help with reverse engineering the GPimu field.
Thanks, I indeed expect that the gyro and accelerator components are in the message. However, based on my data-collection it doesn't seem to contain time_of_week:
"$PFEC,GPimu,0.210,0.056,-0.023,0,-0.654,0.448,0.486,0,0*42",
"$PFEC,GPimu,0.185,0.028,-0.012,0,-0.707,0.338,0.619,0,0*45",
"$PFEC,GPimu,0.184,0.023,-0.012,0,-0.257,0.246,0.768,0,0*40",
"$PFEC,GPimu,0.181,0.052,-0.036,0,-0.150,0.551,0.993,0,0*4A",
"$PFEC,GPimu,0.197,-0.007,-0.006,0,-0.242,0.345,1.016,0,0*65",
"$PFEC,GPimu,0.204,0.013,-0.035,0,-0.112,0.540,1.054,0,0*47",
"$PFEC,GPimu,0.207,-0.005,-0.081,0,-0.028,0.524,1.104,0,0*6F",
"$PFEC,GPimu,0.254,0.028,-0.069,0,-0.009,0.593,1.111,0,0*46",
"$PFEC,GPimu,0.214,-0.003,-0.023,0,-0.024,0.692,1.165,0,0*66",
"$PFEC,GPimu,0.208,0.010,-0.093,0,-0.161,0.673,1.180,0,0*4B",
I'll see if I can reach-out to a contact that may have this information. If so I'll see If I can make a pull request.