Reach XYZ Serial Output?

Reach Module / M+ / M2 RTK / PPK configuration
1

I am trying to read XYZ format from the UART ports of the Rover Reach. I believe everything is set correctly, and I’m receiving data but I cannot find any documentation on how to interpret it, anybody have any ideas? I can get a fixed solution and everything, just working on using that data now…

Reach_UAV_Outputsettings.png1920×1080 135 KB

2

Got this figured out with trashgoblin, posting for record
For XYZ Format:
snapshot of .pos file on reach rover

Capture.PNG1114×195 8.55 KB

One line of serial output of Teensy 3.2:
1895 166907.800 -1999637.5598 -3827312.9493 4679336.0725 2 5 0.7775 1.7480 1.8052 -1.1606 -1.7613 1.1826 0.08 1.1

Teensyduino code (commented out stuff is for Arduino):
//#include <SoftwareSerial.h>
#define SoftSer Serial1
//SoftwareSerial SoftSer(11, 10); // RX, TX
int cnt = 0 ;
void setup() {
// put your setup code here, to run once:
Serial.begin(9600);
SoftSer.begin(38400); //baud rate set on rover
}

void loop() {
  // put your main code here, to run repeatedly:
  while (SoftSer.available()) {
  cnt = 0 ;
  char inchar = SoftSer.read();
  
  Serial.print(inchar); 
  }
  if (cnt == 10000)
  Serial.println();
  cnt++;
}
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3

oops, the code is wrong. We’ll get the correct code up later, output format was still right though.

4

Does anyone have the format identifiers for the different possible output modes from the reach?

The NMEA string is well documented and easy to identify. I can’t find documentation for LLH, XYZ, ENU or the proprietary ERB.

1 Like