octanis1_gps [Wiki]

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====== Ublox NEO 6M module  ======
  * Protocol: NMEA via UART
  
===== Configuration (Windows only) =====
  - Download u-center from ublox
  - Connect the ublox module to your computer via a USB to Serial converter (3V)
  - Open u-center, select the correct Receiver COM port: Receiver -> Port. If correctly connected, data will now be displayed in the u-center views.
  - To configure the device, open: View -> Configuration View
  - NAV5 view: dynamic platform model can be set to portable, airborne (50km altitude limit) or pedestrian. Default: portable.
  - PM view: settings of interest: peak current reduction (p.25 in datasheet), EXTINT pin control high keeps awake.
  - MSG: DTM off, GBS off, GGA on, GLL off, GRS off, GSA off, GST off, GSV on, RMC off, VTG on, ZDA off

==== Used NMEA messages ====
  * $GPGGA,hhmmss.ss,Latitude,N,Longitude,E,FS,NoSV,HDOP,msl,m,Altref,m,DiffAge,DiffStation*cs<CR><LF>
  * $GPGSV,NoMsg,MsgNo,NoSv,{,sv,elv,az,cno}*cs<CR><LF>
  * $GPVTG,cogt,T,cogm,M,sog,N,kph,K,mode*cs<CR><LF>
  * ex: $EIGPQ,RMC*3A  (poll an NMEA message) -> p.58 in ubx datasheet

===== Navigation concept =====
  * Waypoint manager: Remotely updateable waypoint store (home is by definition the first waypoint of the table


===== References =====
  * MAV nav http://infoscience.epfl.ch/record/187596/files/Report_final.pdf
  * Protocols: http://www.u-blox.ch/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
  * useful NMEA frames (http://www.catb.org/gpsd/NMEA.html#_aam_waypoint_arrival_alarm):
    * GGA
    * APA
    * AAM
  * NMEA parsing lib: https://github.com/cloudyourcar/minmea (requires -std=c99 -Dtimegm=mktime)