Teseo VID3DA imu fusion level

[engson07]

Hi I'm now using Teseo-VIC3DA through evb.

I have a curiosity about which level the sensor fusion btw GNSS and IMU is performed.

I can log the data through Teseo suite application.

But i can't figure out that GNSS messages such as NMEA GNGGA, GPVTG etc... is the result of fusion or the raw data of GNSS.

Those messages is the result of fusion btw GNSS and IMU?

And if that data is the result of fusion, Is there any other way to get raw GNSS data?

Thanks a lot in advance.

[GalaxyQuest · Accepted solution]

In VIC3DA, GGA messages are sensor fusion messages.

If you need pure GNSS message, you can look at PSTMDRGPS message being output. This will output GNSS only fixes.

For this you need to enable CDB-ID 228 [bit 23]

$PSTMSETPAR,1228,0x800000,1
$PSTMSAVEPAR   
$PSTMSRR    //save and reset for setting to take effect

// After device is reset
$PSTMGETPAR,1228  //read back to make sure bit is set

Just so that you are familiar with setting CDB registers and reading register settings back, please refer to "Section 10.2 STM system configuration commands"

[engson07]

Thx a lot for reply.

I have some more questions. 

Is there any other reason that raw message's ID include "DR" which means Dead Reckoning?

And I try to activate some messages like $PSTMPVRAW.

I activate that message with command $PSTMSETVAR and confirm that parameter is changed with command $PSTMGETPAR.

But the problem is that i can't view the message with the Terminal in Teseo-Suite.

Are the messages that can be activated with command predetermined?