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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:

Enabling NMEA UART output
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.

PinTypeNameComment
1Power+5VDC

+5 V power supply input. The board can be powered from other sources as well; read the datasheet for more info.

2OUTUART_TXNMEA output at 115200–8N1.
3N/C
Leave floating.
4N/C
Leave floating.
5N/C
Leave floating.
6GNDGNDGround

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.

NMEA output example
$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

Zubax GNSS with a UART cable connectedZubax GNSS with a UART cable connectedJST SH 6-circuit cable (DCD-M)