I/O messages

The user can select which messages are assigned to each port at the "Output messages"
module inside the "Configuration → I/O" panel, as shown in the following image:

The required output port bandwidth depends on the configuration. For example, on a serial port, the baud rate must be set high enough for the necessary bandwidth. The exact number depends on what messages are enabled for the port and the configured fusion output frequency.

Fusion output

The output frequency of these messages is the same as the Fusion output frequency configured in the output generator (See Section 5.4.4 for more information). By default, the output frequency is 10 Hz, but the user can configure it to the range of 1-100 Hz.

Available Fusion messages:

FP_A-ODOMETRY
FP_A-ODOMENU
FP_A-ODOMSH
FP_A-ODOMSTATUS
FP_A-LLH
NOV_B-INSPVAX
NOV_B-BESTVEL_FUSION
NMEA-GP-GGA_FUSION
NMEA-GN-GSA_FUSION
NMEA-GP-GLL_FUSION
NMEA-GP-GST_FUSION
NMEA-GX-GSV_FUSION
NMEA-GP-HDT_FUSION
NMEA-GP-RMC_FUSION
NMEA-GP-VTG_FUSION
NMEA-GP-ZDA_FUSION
FP_A-EOE_FUSION
FP_A-IMUBIAS

IMU output

All IMU output is generated at the IMU frequency of approximately 200 Hz. Note that the IMU output requires a lot of output bandwidth. For example, on a serial port, the baud rate must be set high enough for the necessary bandwidth. The exact number depends on what messages are enabled for the port.

Available IMU messages:

FP_A-RAWIMU
FP_A-CORRIMU
NOV_B-RAWIMU

TF output

The output frequency of these messages is 1 Hz. See exceptions below.

Available TF messages:

FP_A-TF_VRTKCAM
FP_A-TF_POIVRTK
FP_A-TF_ECEFENU0
FP_A-TF_POIPOISH∗
FP_A-TF_POIIMUH∗∗

∗ The output frequency of this message is the same as the configured Fusion frequency, see 5.4.5.
∗∗ The output frequency of this message is 200Hz.

Text output

Text output is an irregular output of text messages (strings). There are four levels:

ERROR – Errors. An error is something from which the sensor cannot recover or something that renders the sensor unusable in normal circumstances.
WARNING – Warnings. A warning is something from which the sensor could recover or something that does not render the sensor unusable in normal circumstances (i.e., the sensor operated to specifications). But it can, for example, hint at degraded performance.
INFO – General information.
DEBUG – Debug information valuable to the Fixposition team.

For example, the sensor outputs a "boot screen" on boot. While it does output it to any port where the FP_A-TEXT_INFO message is enabled, it is only practical to observe this output on UART and CANSTR ports. It is not possible to connect to the TCP ports in time to observe this output.

The boot screen is as follows:

CODE

$FP,TEXT,1,INFO,Fixposition AG - www.fixposition.com*09\r\n
$FP,TEXT,1,INFO,SW=fp_release_vr2_2.61.0_191*78\r\n
$FP,TEXT,1,INFO,HW=nav-vr2 1.2a 6d9d18*3E\r\n

Available text messages:

FP_A-TEXT_ERROR
FP_A-TEXT_WARNING
FP_A-TEXT_INFO
FP_A-TEXT_DEBUG

GNSS output

All GNSS output is generated by default at the GNSS frequency of approximately 5 Hz. In addition, some GNSS output messages cannot be distinguished between GNSS receivers; ensure you use different ports to avoid confusion.

Available GNSS messages:

NMEA-GP-GGA_GNSS[average, 1, 2]
NMEA-GP-GLL_GNSS[average, 1, 2]
NMEA-GN-GSA_GNSS[average, 1, 2]
NMEA-GP-GST_GNSS[average, 1, 2]
NMEA-GX-GSV_GNSS[average, 1, 2]
NMEA-GP-RMC_GNSS[average, 1, 2]
NMEA-GP-VTG_GNSS[average, 1, 2]
NMEA-GP-ZDA_GNSS[average, 1, 2]
NOV_B-BESTGNSSPOS_GNSS[1,2]
NOV_B-HEADING2
FP_A-GNSSANT
FP_A-GNSSCORR
FP_A-EOE_GNSS[average, 1, 2]
NMEA-GP-GGA_NTRIP
NMEA-GP-GGA_GNSS1TOS
NMEA-GP-RMC_GNSS1TOS
FP_A-TP_GNSS1