This article shows how to make Zubax GNSS output the navigation data via the physical UART port.
Parts needed
The only part that will be needed (aside from one Zubax GNSS) is a cable with a JST SH 6-pin connector on one end (also known as DCD-M (Dronecode Debug Mini) connector). It can be purchased from many sources online. The cable is pictured on the right.
Configuring Zubax GNSS
The NMEA output over UART is disabled by default, so we need to enable it. Connect USB, open the command-line interface (CLI) at 115200 baud, then execute the following:
cfg set nmea.uart_on 1 cfg save reboot
If necessary, also enable the altimeter or configure other features, as shown in the datasheet.
The NMEA output should be kept disabled if it is not used.
Connecting to the UART port
Connect one end of the cable to Zubax GNSS 2’s DroneCode port using the following pinout specification.
| Pin | Type | Name | Comment |
|---|---|---|---|
| 1 | Power | +5VDC | +5 V power supply input. The board can be powered from other sources as well; read the datasheet for more info. |
| 2 | OUT | UART_TX | NMEA output at 115200–8N1. |
| 3 | N/C | Leave floating. | |
| 4 | N/C | Leave floating. | |
| 5 | N/C | Leave floating. | |
| 6 | GND | GND | Ground |
Connect the other end of the cable to your hardware, and configure the UART interface as follows:
- Baud rate: 115200
- Byte size: 8
- Parity: None
- Stop bits: 1
Testing
Now power on the device, and your hardware should be able to read the NMEA stream coming out of the UART port. A sample NMEA output is provided below.
$GPRMC,072626.30,A,0036.27144,N,00042.93538,E,1.097,235.8,141215,,*35 $GPGGA,072626.30,0036.27144,N,00042.93538,E,1,14,1.44,239.382,M,13.2,M,,*5E $GPGSV,4,1,15,08,52,283,17,10,80,126,26,14,27,155,34,15,15,039,08*74 $GPGSV,4,2,15,16,00,216,16,18,49,073,13,21,25,109,22,22,77,181,25*7F $GPGSV,4,3,15,27,59,219,15,32,03,232,16,01,74,188,27,02,19,214,17*76 $GPGSV,4,4,15,08,47,047,22,23,29,145,21,24,80,177,18*4A $HCHDG,266.0,,,,*40 $YXXDR,P,0.98966,B*57 $YXXDR,C,29.9,C*7F $GPRMC,072626.36,A,0036.27143,N,00042.93547,E,1.402,235.8,141215,,*34 $GPGGA,072626.36,0036.27143,N,00042.93547,E,1,15,1.44,239.467,M,13.2,M,,*5A $GPGSA,A,3,08,10,14,18,21,22,27,01,02,23,24,12,2.24,1.44,1.71*04 $HCHDG,266.2,,,,*42 $YXXDR,P,0.98968,B*59
