output AHRS and other Serial Data for XCSOAR

[MaxBaex]

• Which NMEA data is therefore used from OpenVario / XCSOAR.
• Output via Bluetooth / USB.
• Which device drivers are parsed as Generic from XCSOAR and which do require a specific driver setting?

[MaxBaex]

https://github.com/jukart/XCSoar/blob/master/src/Device/Driver/LevilAHRS_G.cppforum.pilotaware.com/index.php?topic=659.0

// $RPYL,Roll,Pitch,MagnHeading,SideSlip,YawRate,G,errorcode, // $APENV1,IAS,Altitude,0,0,0,VerticalSpeed,

$RPYL, Roll, Pitch, Yaw (Magnetic heading), Inclination, Yaw Rate (turn coordinator), G force, $RPYL,82,69,2021,83,14,1013,0,

$APENV1, Airspeed, Altitude, 0,0,0,Vertical Speed $APENV1,124,179,0,0,0,500,

TestDriver.cpp  // All angles in tenth of degrees   ok1(device->ParseNMEA("$RPYL,127,729,3215,99,88,1376,0,", nmea_info));   ok1(nmea_info.attitude.bank_angle_available);   ok1(equals(nmea_info.attitude.bank_angle, 12.7));   ok1(nmea_info.attitude.pitch_angle_available);   ok1(equals(nmea_info.attitude.pitch_angle, 72.9));   ok1(nmea_info.attitude.heading_available);   ok1(equals(nmea_info.attitude.heading, 321.5));   ok1(nmea_info.acceleration.available);   ok1(nmea_info.acceleration.real);   ok1(equals(nmea_info.acceleration.g_load, 1.376));

  // speed in kn, alt in ft, vs in ft/min   ok1(device->ParseNMEA("$APENV1,94,1500,0,0,0,0,", nmea_info));   ok1(nmea_info.airspeed_available);   ok1(equals(nmea_info.indicated_airspeed, 48.357777777));   ok1(nmea_info.pressure_altitude_available);   ok1(equals(nmea_info.pressure_altitude, 457.2));   // vertical speed not implemented

[MaxBaex]

ok1(device->ParseNMEA("$PLXVF,,1.00,0.87,-0.12,-0.25,90.2,244.3,*64", basic)); ok1(basic.netto_vario_available); ok1(equals(basic.netto_vario, -0.25)); ok1(basic.airspeed_available); ok1(equals(basic.indicated_airspeed, 90.2)); ok1(basic.pressure_altitude_available); ok1(equals(basic.pressure_altitude, 244.3));

ok1(lx_device.IsV7()); lx_device.ResetDeviceDetection();

ok1(device->ParseNMEA("$PLXVS,23.1,0,12.3,*71", basic)); ok1(basic.temperature_available); ok1(equals(basic.temperature.ToKelvin(), 296.25)); ok1(basic.switch_state.flight_mode == SwitchState::FlightMode::CIRCLING); ok1(basic.voltage_available); ok1(equals(basic.voltage, 12.3));

[MaxBaex]

• RPYL // $RPYL,Roll,Pitch,MagnHeading,SideSlip,YawRate,G,errorcode$RPYL, Roll, Pitch, Yaw (Magnetic heading), Inclination, Yaw Rate (turn coordinator), G force, $RPYL,82,69,2021,83,14,1013,0, TestDriver.cpp   // All angles in tenth of degreesok1(device->ParseNMEA("$RPYL,127,729,3215,99,88,1376,0,", nmea_info));ok1(nmea_info.attitude.bank_angle_available);ok1(equals(nmea_info.attitude.bank_angle, 12.7));ok1(nmea_info.attitude.pitch_angle_available);ok1(equals(nmea_info.attitude.pitch_angle, 72.9));ok1(nmea_info.attitude.heading_available);ok1(equals(nmea_info.attitude.heading, 321.5));ok1(nmea_info.acceleration.available);ok1(nmea_info.acceleration.real); ok1(equals(nmea_info.acceleration.g_load, 1.376));

• PLXVS Temperature / Voltage / (Flight Mode!): $PLXVS,OAT,mode,voltage CS (Out ok1(device->ParseNMEA("$PLXVS,23.1,0,12.3,71", basic)); Temperature in deg celsius ok1(basic.temperature_available); ok1(equals(basic.temperature.ToKelvin(), 296.25));
  ok1(basic.switch_state.flight_mode == SwitchState::FlightMode::CIRCLING); Circling=0, Cruise=1 ok1(basic.voltage_available); ok1(equals(basic.voltage, 12.3));

• APENV  +  IAS    // $APENV1,IAS,Altitude,0,0,0,VerticalSpeed,   // speed in kn, alt in ft, vs in ft/min   ok1(device->ParseNMEA("$APENV1,94,1500,0,0,0,0,", nmea_info));   ok1(nmea_info.airspeed_available);   ok1(equals(nmea_info.indicated_airspeed, 48.357777777));   ok1(nmea_info.pressure_altitude_available);   ok1(equals(nmea_info.pressure_altitude, 457.2));   // vertical speed not implemented

• PEYA    alternative to$ PTAS1 & $GPMWV?        Static Pressure, Pressure Altitude, Wind bearing and strength, humidity, temperature, true airspeed, indicated airspeed, QNH,  "noncomp_vario"?   ok1(device->ParseNMEA("$PEYA,1015.5,1020.5,3499,1012.3,265,12,176,+05.4,+15.2,095,1650,+05.1,+3.9*3a",                         nmea_info));   ok1(nmea_info.static_pressure_available);   ok1(equals(nmea_info.static_pressure.GetHectoPascal(), 1015.5));   ok1(nmea_info.pitot_pressure_available);   ok1(equals(nmea_info.pitot_pressure.GetHectoPascal(), 1020.5));   ok1(nmea_info.pressure_altitude_available);   ok1(equals(nmea_info.pressure_altitude, 3499));   ok1(nmea_info.settings.qnh_available);   ok1(equals(nmea_info.settings.qnh.GetHectoPascal(), 1012.3));   ok1(nmea_info.external_wind_available);   ok1(equals(nmea_info.external_wind.bearing, 265));   ok1(equals(nmea_info.external_wind.norm,              Units::ToSysUnit(12, Unit::KILOMETER_PER_HOUR)));   ok1(nmea_info.airspeed_available);   ok1(nmea_info.airspeed_real);   ok1(equals(nmea_info.true_airspeed,              Units::ToSysUnit(176, Unit::KILOMETER_PER_HOUR)));   ok1(nmea_info.noncomp_vario_available);   ok1(equals(nmea_info.noncomp_vario, 5.4));   ok1(nmea_info.temperature_available);   ok1(equals(nmea_info.temperature.ToKelvin(),              Temperature::FromCelsius(15.2).ToKelvin()));   ok1(nmea_info.humidity_available);   ok1(equals(nmea_info.humidity, 95));

• POV (OpenVario driver) https://www.openvario.org/doku.php?id=projects:series_00:software:nmea Type definitions: E: TE vario in m/s, H: relative humidity in %, P: static pressure in hPa, Q: dynamic pressure in Pa, R: total pressure in hPa, S: true airspeed in km/h, T: temperature in deg C, ?: respond with selected strings, e.g. Ballast, Bugs, Polar Example: $POV,?,RPO,MC,WL2E means: Real Polar, MacCready, Wing Load S: true airspeed in km/h: Example: $POV,S,123.4505 P: static pressure in hPa: Example: $POV,P,1018.3539 Q: dynamic pressure in Pa: Example: $POV,Q,23.304 R: total pressure in hPa: Example: $POV,R,1025.1735 T: temperature in deg C: Example: $POV,T,23.5235 V: battery voltage in V: Example: $POV,V,11.9931 E: TE vario in m/s: Example: $POV,E,2.1514

• PTAS1 (supported by XCSOAR standard Parser.cpp) ok1(parser.ParseLine("$PTAS1,200,200,02426,00025", nmea_info)); ok1(nmea_info.total_energy_vario_available); ok1(equals(nmea_info.total_energy_vario, 0)); ok1(nmea_info.pressure_altitude_available); ok1(equals(nmea_info.pressure_altitude, Units::ToSysUnit(426, Unit::FEET))); ok1(nmea_info.airspeed_available); ok1(equals(nmea_info.true_airspeed, 0)); ok1(parser.ParseLine("$PTAS1,234,000,00426,06226", nmea_info)); ok1(nmea_info.total_energy_vario_available); ok1(equals(nmea_info.total_energy_vario, Units::ToSysUnit(3.4, Unit::KNOTS))); ok1(nmea_info.pressure_altitude_available); ok1(equals(nmea_info.pressure_altitude, Units::ToSysUnit(-1574, Unit::FEET))); ok1(nmea_info.airspeed_available); ok1(equals(nmea_info.true_airspeed, Units::ToSysUnit(62, Unit::KNOTS)));

• GPMWV (supported by XCSOAR standard Parser.cpp)

  • $--MWV,x.x,a,x.x,a,a,a,*hh
  • Field Number:
  • 1) wind angle
  • 2) (R)elative or (T)rue
  • 3) wind speed
  • 4) K/M/N
  • 5) Status A=valid
  • 8) Checksum

[MaxBaex]

https://freevario.de/freevario-kommunikations-interface/

[MaxBaex]

Test and understand if different dialects can be understood by XCSOAR via one bluetooth interface.

[MaxBaex]

Yes this works. LeviAHRS shall be added to the NMEA output data.

[realtimepeople]

The NMEA output has been reworked.

-> DONE