Troubleshoot

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Technical Support

If you need technical assistance or more information on a product that is not working as you expected, we recommend heading on over to the SparkFun Forums. The Issues page of the GitHub repository is not where users should seek assistance.

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Tilt-Compensation

Configuration Requirements

• Access to the UART interfaces of the IM19 attitude module

  • By default, the UART1 and UART3 ports can be used to configure the IM19 attitude module and receive the tilt compensated position

    Data Protocol

    The tilt-compensated position is transmitted in a proprietary data format using FMI* messages. The output of these messages also needs to be enabled.

• Access to configure the UART interface and PPS signal that are transmitting from the GNSS receiver to the IM19 attitude module

  UART Interface

  For the UART interface of the GNSS receiver that is connected to the IM19 attitude module, users will need to configure the UART port for the following settings:

  • Baudrate: 115200bps
  • Output NMEA Messages: GPGGA, GPRMC, and GPGST
  • Solution Rate: 5Hz

  
  

  tip

  The IM19 attitude module requires RTK GNSS position data. That is to say, the GNSS receiver must be transmitting position data, while it has an RTK Fix.

  PPS Signal

  The timing of the PPS signal from the GNSS receiver should be 1Hz

• The location of the ARC of the GNSS antenna with respect to the IMU's origin; and the vector between the APC and survey point.

  info

  For information on the antenna reference point (ARP) and antenna phase center (APC), check out this useful tutorial by Septentrio.

AT-Commands

• The AT-commands are case-sensitive double check that all characters are capitalized.
• The AT-commands need to be sent in a single string.
  • It is recommended to utilize a terminal emulator that sends a string of characters, instead of each character as they are typed. For example, the Serial Monitor in the Arduino IDE.
• Verify the baud rate is set to 115200bps

Save & Reset

Don't forget to save any parameter changes and reset the device, as necessary:

AT Command	Description
AT+SAVE_ALL	Save the parameters
AT+SYSTEM_RESET	System reset