Vectornav VN-200 User Manual download pdf (Page 15)

5 Discussion

5.1 GPS Driver

This section will ﬁrs t show th e results of the GPS dri ver and make some comparison and expla-

nation.

Before making any changes and/or doing software development, the ﬁrst step is to just use the

Oﬃcial VectorNAV driver and application to show if it works. As mentioned above, there is an

oﬃcial app li cation with graphical interface to show the current coordinates, speed, acceleration and

other information of the GPS sen s or (Figure 3). When I just plugged the sensor into the USB port

on my computer, the application di d not show any information other than zeroe s. After look ing at

the user manual in detail, I reset some parameters like baud rate (which should be 230400) to make

this app li cation to correctly show its altitude, latitude and longitude.

After successfull y tuned parameters for the Windows application, I then moved onto the oﬃcial

Linux driver. The driver provided by Vector NAV is just a library. When I just typed “make” at

ﬁrst, the compiler showed some error infor mation about u nd eﬁ ne d r ef er e nc e. After l ooking up the

error message on the internet, I got that we needed to add a paramete r “-lrt” in the command line.

Then the compilation step worked well and it generated the driver ﬁle, which is a static librar y.

In order to utilize this library, we must have some program which calls functions in the library

to show necessary information. I made a pr ogram which shows the coord inate based on the sample

program provided by VectorNAV. Fortunately, the program can display correct answer without any

problem (Figure 4).

Figure 4 Linux Sample Program of VN200

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Vectornav VN-200 User Manual Page 15