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--- guides:falcom_fsa03 [2010/11/10 23:36] – grammar jonsowman
+++ guides:falcom_fsa03 [2012/06/03 14:42] (current) – upu
@@ Line 4: / Line 4: @@
 The [[http://www.falcom.de/products/gps-modules/fsa03/|Falcom FSA03]] is an inexpensive Ublox 5 ([[http://www.u-blox.com/en/gps-chips/stand-alone-gps-chips/u-blox-5-chipset-ubx-g5010.html|UBX-G5010]]) GPS module with a small footprint which featuring the Sarantel quadrifilar helix antenna.
+Although still available this unit is end of life.
 Ublox modules are capable of operating above 60,000 feet, provided they are configured and placed in airborne mode. The FSA03 does not include any EEPROM or Flash memory, and as such is unable to retain settings unless its RAM is buffered by backup battery. The module should be programmed with UBX whenever power has been lost to place it in airborne mode.
@@ Line 148: / Line 150: @@
 #include <NewSoftSerial.h>
-NewSoftSerial nss(3, 2);
+NewSoftSerial nss(2, 3);
+// GPS Tx output is connected to Arduino input on pin 2
+// GPS Rx input is connected to Arduino output on pin 3
+byte navmode = 99;
 void setup() {
@@ Line 274: / Line 281: @@
 	}
 }
+//Function to poll the NAV5 status of a Ublox GPS module (5/6)
+//Sends a UBX command (requires the function sendUBX()) and waits 3 seconds
+// for a reply from the module. The then isolates the byte which contains
+// the information regarding the NAV5 mode,
+// 0 = Pedestrian mode (default, will not work above 12km)
+// 6 = Airborne 1G (works up to 50km altitude)
+//Adapted by jcoxon from getUBX_ACK() from the example code on UKHAS wiki
+// http://wiki.ukhas.org.uk/guides:falcom_fsa03
+boolean checkNAV(){
+  uint8_t b, bytePos = 0;
+  uint8_t getNAV5[] = { 0xB5, 0x62, 0x06, 0x24, 0x00, 0x00, 0x2A, 0x84 }; //Poll NAV5 status
+  nss.flush();
+  unsigned long startTime = millis();
+  sendUBX(getNAV5, sizeof(getNAV5)/sizeof(uint8_t));
+  while (1) {
+    // Make sure data is available to read
+    if (nss.available()) {
+      b = nss.read();
+      if(bytePos == 8){
+        navmode = b;
+        return true;
+      }
+      bytePos++;
+    }
+    // Timeout if no valid response in 3 seconds
+    if (millis() - startTime > 3000) {
+      navmode = 0;
+      return false;
+    }
+  }
+}
 </code>
 ==== NMEA ====
@@ Line 323: / Line 364: @@
 |0|$PUBX|string|$PUBX|-|Message ID, UBX protocol header, proprietary sentence|
 |1|00|numeric|ID|-|Propietary message identifier: 00|
-|2|081350.00|hhmmss.sss|hhmmss.ss|-|UTC Time, Current time|
+|2|081350.00|hhmmss.ss|hhmmss.ss|-|UTC Time, Current time|
 |3|4717.113210|ddmm.mmmm|Latitude|-|Latitude, Degrees + minutes, see Format description|
 |4|N|character|N|-|N/S Indicator, N=north or S=south|
@@ Line 329: / Line 370: @@
 |6|E|character|E|-|E/W indicator, E=east or W=west|
 |7|546.589|numeric|AltRef|m|Altitude above user datum ellipsoid.|
-|8|G3|string|NavStat|-|Navigation Status, See Table below|
+|8|G3|string|NavStat|-|Navigation Status - Example: G3 =Stand alone 3D solution, NF =No Fix|
 |9|2.1|numeric|Hacc|m|Horizontal accuracy estimate.|
 |10|2.0|numeric|Vacc|m|Vertical accuracy estimate.|