Tokimek PTVG
Tokimek PVTG is a proprietary NMEA 0183 compatible protocol.
Data:
pitch, roll, heading
Format:
$PTVG,abbbbP,accccR,ddd.dT*hh<CR><LF>
Tokimek PTVG protocol description | |||||
|---|---|---|---|---|---|
FIELD N. | FIELD | DESCRIPTION | UNIT | DATA TYPE | NOTE |
0 | $PTVG | identifier | - | string | Telegram identifier |
1 | abbbbP | pitch angle in degrees multiplied by 100 | [deg] | string (parsed as INT) | a: sign indicator (minus [-] for bow up, space [ ] for bow down). bbbb: The former ‘bb' is the pitch angle in degrees represented by two positive digits in range [0,99] and the latter 'bb’ is minutes represented by 2 positive digits in range [0,99]. P: Identifier for pitch |
2 | accccR | roll angle in degrees multiplied by 100 | [deg] | string (parsed as INT) | a: sign indicator (minus [-] for port up, space [ ] for bow down). cccc: The former ‘cc' is the roll angle in degrees represented by two positive digits in range [0,99] and the latter 'cc’ is minutes represented by 2 positive digits in range [0,99]. R: Identifier for roll |
3 | ddd.dT | heading angle in degrees | [deg] | string (parsed as DBL) | Heading increase in clockwise direction. ddd.d: ‘ddd’ is the integer part of the heading angle represented by three positive digits in range [000,359], '.' is decimal separator and 'd' is the fractional part of the heading angle represented by one positive digit in range [0,9]. T: Identifier for heading |
4 | hh | checksum | - | HEX | XOR of characters between $ and * |
Example:
Tokimek PTVG frame with raw example data is listed below.
$PTVG, 0401P,-0305R,101.8T*42<CR><LF>
Field 0 | Field 1 | Field 2 | Field 3 | Field 4 |
|---|---|---|---|---|
$PTVG | 0401P | -0305R | 101.8T | 67 |
Decoded values:
Pitch: 0401P
Space indicate bow down for pitch value
First two digits (04): 4 degrees
Last two digits (01): 1 minute
Pitch angle: 4 + 1/60 degrees = 4.0167 degrees (bow down)
Roll: -0305R
Minus sign indicate bow down for roll value
First two digits (03): 3 degrees
Last two digits (05): 5 minutes
Pitch angle: 3 + 5/60 degrees = 3.0833 degrees (bow up)
Heading: 101.8T
Heading angle: 101 + 0.8 degrees = 101.8 degrees.
Checksum: 67
Created from XOR operations of characters between $ and * in the example frame.
Note
The reference frame for data (e.g., roll) is configurable in the Tokimek PVTG protocol. Also, the data's location (e.g., MRU or MP1) is configurable.