TinyGPS

A Compact Arduino GPS/NMEA Parser

TinyGPS is designed to provide most of the NMEA GPS functionality I imagine an Arduino user would want – position, date, time, altitude, speed and course – without the large size that seems to accompany similar bodies of code.  To keep resource consumption low, the library avoids any mandatory floating point dependency and ignores all but a few key GPS fields.

Usage

To use, simply create an instance of an object like this:

#include "TinyGPS.h"
TinyGPS gps;

Feed the object serial NMEA data one character at a time using the encode() method. (TinyGPS does not handle retrieving serial data from a GPS unit.) When encode() returns “true”, a valid sentence has just changed the TinyGPS object’s internal state. For example:

#define RXPIN 3
#define TXPIN 2
SoftwareSerial nss(RXPIN, TXPIN);
void loop()
{
  while (nss.available())
  {
    int c = nss.read();
    if (gps.encode(c))
    {
      // process new gps info here
    }
  }
}

You can then query the object to get various tidbits of data. To test whether the data returned is stale, examine the (optional) parameter “fix_age” which returns the number of milliseconds since the data was encoded.

long lat, lon;
unsigned long fix_age, time, date, speed, course;
unsigned long chars;
unsigned short sentences, failed_checksum;

// retrieves +/- lat/long in 100000ths of a degree
gps.get_position(&lat, &lon, &fix_age);

// time in hhmmsscc, date in ddmmyy
gps.get_datetime(&date, &time, &fix_age);

// returns speed in 100ths of a knot
speed = gps.speed();

// course in 100ths of a degree
course = gps.course();

Statistics

The stats method provides a clue whether you are getting good data or not. It provides statistics that help with troubleshooting.

// statistics
gps.stats(&chars, &sentences, &failed_checksum);
  • chars – the number of characters fed to the object
  • sentences – the number of valid $GPGGA and $GPRMC sentences processed
  • failed_checksum – the number of sentences that failed the checksum test

Integral values

Values returned by the core TinyGPS methods are integral. Angular latitude and longitude measurements, for example, are provided in units of millionths of a degree, so instead of 90°30’00″, get_position() returns a longitude value of 90,500,000, or 90.5 degrees. But…

Using Floating Point

…for applications which are not resource constrained, it may be more convenient to use floating-point numbers. For these, TinyGPS offers several inline functions that return more easily-managed data. Don’t use these unless you can afford to link the floating-point libraries. Doing so may add 2000 or more bytes to the size of your application.

float flat, flon;

// returns +/- latitude/longitude in degrees
gps.f_get_position(&flat, &flon, &fix_age);
float falt = gps.f_altitude(); // +/- altitude in meters
float fc = gps.f_course(); // course in degrees
float fk = gps.f_speed_knots(); // speed in knots
float fmph = gps.f_speed_mph(); // speed in miles/hr
float fmps = gps.f_speed_mps(); // speed in m/sec
float fkmph = gps.f_speed_kmph(); // speed in km/hr

Date/time cracking

For more convenient access to date/time use this:

int year;
byte month, day, hour, minutes, second, hundredths;
unsigned long fix_age;

gps.crack_datetime(&year, &month, &day,
  &hour, &minute, &second, &hundredths, &fix_age);

Establishing a fix

TinyGPS objects depend on an external source, i.e. its host program, to feed valid and up-to-date NMEA GPS data. This is the only way to make sure that TinyGPS’s notion of the “fix” is current. Three things must happen to get valid position and time/date:

  1. You must feed the object serial NMEA data.
  2. The NMEA sentences must pass the checksum test.
  3. The NMEA sentences must report valid data. If the $GPRMC sentence reports a validity of “V” (void) instead of “A” (active), or if the $GPGGA sentence reports fix type “0″ (no fix) then those sentences are discarded.

To test whether the TinyGPS object contains valid fix data, pass the address of an unsigned long variable for the “fix_age” parameter in the methods that support it. If the returned value is TinyGPS::GPS_INVALID_AGE, then you know the object has never received a valid fix. If not, then fix_age is the number of milliseconds since the last valid fix. If you are “feeding” the object regularly, fix_age should probably never get much over 1000. If fix_age starts getting large, that may be a sign that you once had a fix, but have lost it.

float flat, flon;
unsigned long fix_age; // returns +- latitude/longitude in degrees
gps.f_get_position(&flat, &flon, &fix_age);
if (fix_age == TinyGPS::GPS_INVALID_AGE)
  Serial.println("No fix detected");
else if (fix_age > 5000)
  Serial.println("Warning: possible stale data!");
else
  Serial.println("Data is current.");

Interfacing with Serial GPS

To get valid and timely GPS fixes, you must provide a reliable NMEA sentence feed. If your NMEA data is coming from a serial GPS unit, connect it to Arduino’s hardware serial port, or, if using a “soft” serial port, make sure that you are using a reliable SoftSerial library. As of this writing (Arduino 0013), the SoftwareSerial library provided with the IDE is inadequate. It’s best to use my NewSoftSerial library, which builds upon the fine work ladyada did with the AFSoftSerial library.

Library Version

You can retrieve the version of the TinyGPS library by calling the static member library_version().

int ver = TinyGPS::library_version();

Resource Consumption

Linking the TinyGPS library to your application adds approximately 2500 bytes to its size, unless you are invoking any of the f_* methods. These require the floating point libraries, which might add another 600+ bytes.

Download

The latest version of TinyGPS is available here: TinyGPS13.zip

Change Log

  1. initial version
  2. << streaming, supports $GPGGA for altitude, floating point inline functions
  3. also extract lat/long/time from $GPGGA for compatibility with devices with no $GPRMC
  4. bug fixes
  5. API re-org, attach separate fix_age’s to date/time and position.
  6. Prefer encode() over operator<<. Encode() returns boolean indicating whether TinyGPS object has changed state.
  7. Changed examples to use NewSoftSerial in lieu of AFSoftSerial; rearranged the distribution package.
  8. Greater precision in latitude and longitude.  Angles measured in 10-5 degrees instead of 10-4 as previously.  Some constants redefined.
  9. Minor bug fix release: the fix_age parameter of get_datetime() was not being set correctly.
  10. Added Maarten Lamers’ distance_to() as a static function.
  11. Arduino 1.0 compatibility
  12. Added satellites(), hdop(), course_to(), and cardinal()
  13. Improved precision in latitude and longitude rendering. get_position() now returns angles in millionths of a degree.

Acknowledgements

Many thanks to Arduino forum users mem and Brad Burleson for outstanding help in alpha testing this code. Thanks also to Maarten Lamers, who wrote the wiring library that originally gave me the idea of how to organize TinyGPS.  Thanks also to Dan P. for suggesting that I increase the lat/long precision in version 8.  Thanks to many people who suggested new useful features for TinyGPS, especially Matt Monson, who wrote some nice sample code to do so.

All input is appreciated.

Mikal Hart

Page last updated on August 31, 2013 at 7:00 pm
697 Responses → “TinyGPS”

  1. Jack

    5 years ago

    Hi Mikal. I’m using a GPS simulator that outputs GGA strings. The fix in the GGA sentence is 1. But gps.encode just returns 0… Do i nid RMC strings for it to work too? All i wanted was to retrieve the lat/lon frm the GGA.


  2. Mikal

    5 years ago

    @Christian,

    1. gps.satellites();
    2. Latitudes greater than 0 are north of the equator.
    3. If you are concerned about signal quality, check the “horizontal dilution of precision”: gps.hdop();


  3. Mikal

    5 years ago

    @Geoff,

    Sure:

    Serial.print(lat / 100000);
    Serial.print(".");
    Serial.print(lat % 100000);
    
    // This won't work quite right when lat % 100000 begins with 0
    // but you can figure it out... :)
    

  4. Mikal

    5 years ago

    @Albarra,

    The best way to diagnose a problem like this is to print out the raw stream you are getting from the GPS module. Print out each character with Serial.write() before you send it to gps.encode();


  5. Mikal

    5 years ago

    @mike, I haven’t tried TinyGPS on the Raspberry Pi, but I would expect it to almost work as is–except for the small dependency on the Arduino millis() function to measure time. If you substitute the equivalent on a different OS, I think it would be easy to port.


  6. Mikal

    5 years ago

    @Alexander,

    encode() returns true when the final character of a valid sentence is processed. That means the sentence passed the checksum test and, if GPRMC, that it contained valid data.


  7. Mikal

    5 years ago

    @Jack,

    Can you possibly post the GGA sentence? gps.encode only returns true when it reaches the CR or LF at the end of sentence.


  8. Jack

    5 years ago

    Thnx for the reply Mikal. Here u go.

    $GPGGA,090000.00,0117.81300741,N,10348.09117993,E,1,05,2.87,160.00,M,-21.3213,M,,*7B
    $GPGGA,090000.05,0117.81300741,N,10348.09117993,E,1,05,2.87,160.00,M,-21.3213,M,,*7E
    $GPGGA,090000.10,0117.81300741,N,10348.09117993,E,1,05,2.87,160.00,M,-21.3213,M,,*7A
    $GPGGA,090000.15,0117.81300741,N,10348.09117993,E,1,05,2.87,160.00,M,-21.3213,M,,*7F
    $GPGGA,090000.20,0117.81300741,N,10348.09117993,E,1,05,2.87,160.00,M,-21.3213,M,,*79
    $GPGGA,090000.25,0117.81300741,N,10348.09117993,E,1,05,2.87,160.00,M,-21.3213,M,,*7C
    $GPGGA,090000.30,0117.81300741,N,10348.09117993,E,1,05,2.87,160.00,M,-21.3213,M,,*78

    I’ve pasted the first 2 lines above into the GGA string in the static test. Checksum seems fine and flat/flon was returned quite accurately. Hw’d i knw if there’s CR or LF at the end of each sentence? Thnx again!


  9. Mikal

    5 years ago

    @Jack, I was able to easily generate valid lat/long data using (just) your GPGGA strings. If your encode() is NEVER returning “true”, then your simulator must not be generating the CR or LF that is supposed to terminate these strings. How are you getting them from the simulator? As a workaround, if you know that you’ve reached the end of a sentence, you could simply add the line:

    bool success = gps.encode(‘\r’);

    That should return “true”.


  10. Jack

    5 years ago

    i’m usin a copy of Free SatGen NMEA software from: http://www.labsat.co.uk
    output frm the software is then passed thru a FTDI breakout board to the arduino.

    so i’m supposed to add the line “bool success = gps.encode(‘\r’);” into the data simulated?

    THANKS for the help!!


  11. king_zul97

    5 years ago

    why my arduino ide uno cannot receive any data from gps when serialmonitor . but i can get data when using mini gps . ?


  12. Victor

    5 years ago

    Hi, am using a GPS shield with the arduino uno. I uploaded the code above but all I get is strange characters in my serial monitor. what could be the reason?


  13. Mikal

    5 years ago

    @Victor, Perhaps a baud rate mismatch between the sketch and the monitor?


  14. M00se

    4 years ago

    Hi ,
    I am using this with the mediatek v12 from diydrones.
    I have managed to get the baud and pins right and I am getting data in serial when running, test_with_gps_device.
    My problem is that I am getting a checksum fail on every new line of data,

    this is a typical line from the serial
    5 138 42.89535 -8.52799 873 00/00/2000 19:26:23 879 315.80 ****** ***** *** 1147 30.51 NNE 4568 31 32

    I am inside with poor coverage, but this doesnt change when outside, I also have no date returned, although the time is correct.

    Do you have any idea what is going on ?
    thanks for the ace library


  15. Mikal

    4 years ago

    @M00se,

    Just a clarification that it doesn’t matter how good or poor your fix or signal is. Even if you can see NO satellites, the GPS module should continue to send sentences with valid checksums. They may not contain a lot of useful data, but they will be correctly formatted.

    Now, about those checksums, my best guess is either (a) that you are doing something to slow down the processing of the NMEA stream, (b) the baud rate is too high for SoftwareSerial to process reliably (>= 38.4K), or perhaps the sentence rate is too high to process. Have you modified the sample code in any way? What is the baud rate? How many sentences per second is it sending anyway?

    It looks like about half of the sentences are getting through (31 “good” and 32 “failed checksum”).


  16. Josh

    4 years ago

    Hey Mikal, I really love your library! I have a question about it, however. It usually takes about 1 second to actually encode the data coming from the GPS. This is, unfortunately, much too long for my needs. I need to be able to receive at least 5 GPS points per second, preferably more. The code I’m using is simple enough, so I’m not really sure where it’s hanging up. Any help would be greatly appreciated. I am using an Arduino Mega2560 with a Seeedstudio uBlox GPS Bee connected on Serial1 at a baud rate of 9600.

    void loop()
    {
    while(Serial1.available())
    {
    if(gps.encode(Serial1.read()))
    {
    getCurrentPoint(gps);
    }
    }
    }

    void getCurrentPoint(TinyGPS &gps)
    {
    gps.f_get_position(&lat, &lon);
    gps.get_datetime(&date, &time, &age);
    }


  17. Christopher

    4 years ago

    Mikal, I am new to Arduino and programming in general. I am having great difficulty using TinyGPS. I am able to connect my GPS to my Arduino and get NEMA sentences to display on my IDE Serial Monitor using my own basic code. However, I have been unsuccessful at parsing the information using TinyGPS. Can you, or anyone here, provide a full sample code for displaying the basics (position, date, time, altitude, speed and course)? My goal is to output this info to an LCD.


  18. Mikal

    4 years ago

    @Josh,

    The bottleneck that is limiting your device to one update per second is not your code or TinyGPS or the Arduino: it’s the GPS Bee. I studied some of the documentation, and as you can see from this image, the GPS bee only transmits useful position and date/time information once per second, i.e. one $GPRMC and one $GPGLL sentence per second. This is actually quite common with less expensive GPS modules.


  19. Mikal

    4 years ago

    @Christopher,

    There are some pretty useful samples that are bundled with TinyGPS. If you look at File/Examples/TinyGPS, try modifying the test_with_gps_device to your setup. Let me know if that helps.


  20. Josh

    4 years ago

    Oh wow, I can’t believe I never considered that as an option. Thanks so much for your help!


  21. Christopher

    4 years ago

    Mikal, I am using a Ublox LEA-5M-0-002 but am getting a strange reading. I have included a sample of the NEMA sentences that I am seeing. I personally can’t determine what is going on but it does not seem correct at all. I may try another module as I have access to dozens. Any help would be appreciated.

    $GPGGA,002552.00,4426.03219,N,09308.79763,W1,06,1.69,303.7,M,-31.0,M,,*6D
    $GPRMC,002552.00,A,4426.03219,N,09308.79763,W,0.264,115.07,100713,,,A*79

  22. Mikal

    4 years ago

    @Christopher, can you clarify what you mean? What “does not seem correct”?

    Did you copy those two NMEA sentences correctly? The second one is good, but the first one seems to have a comma missing after the W.


  23. Mike McCauley

    4 years ago

    Hi Mikal,
    love your TinyGPS

    I have it working on Maple and Flymaple now.
    Only one change to your library is required to make it compatible with both Arduino and Maple:

    In TinyGPS.cpp Add:

    #include <stdlib.h>

    before

    #include "TinyGPS.h"

    else get a compile error concerning atoi()

    I have tested this change on both Maple and Arduino. It is necessary for Maple and innocuous for Arduino.

    Can you add it to future release?

    Cheers.


  24. Mikal

    4 years ago

    @Mike,

    Hey! Thanks for the suggestion. I’ll put it on the todo list.


  25. jsfak

    4 years ago

    Thanks for sharing your library. It is feeding my enjoyment of learning to use various sensors.

    I’m curious why I get different lat/long reads from the same $GPGGA sentences whether I am using your TinyGPS library or just the Arduino RX pin. Without your library, there is an offset of several miles from my true location. Though, the DOP’s and satellites accessed are the same (and date and time differ in only the seconds that it takes to upload the sketches). The altitude is fairly close, but at my desk in the SF Bay Area, the read varies from 10 meters under to 20 meters high, regardless of the sketch (possibly influenced by economic factors).

    At least, I am getting consistent numbers from multiple fixes and do not think that the difference is in the serials. Rather, I think that the differences is in the offset values that the SKM53 does not transmit ($GPDTM).

    Since the GPS module does not receive data from the Arduino, I am assuming that you are using a different correction for the values. Can you tell me what you are using? Is it a constant?

    Thanks again for all of your work!!


  26. Juan Pablo

    4 years ago

    Hi Mikal!
    How can I check if the GPRMC reports a correct status “A” or incorrect “V”?. Thanks so much and Regards!


  27. Mikal

    4 years ago

    @jsfak,

    My suspicion is that you are misunderstanding the GPGGA and GPRMC lat/long format. When you see a latitude of this format

    4124.8963, N

    that doesn’t mean 41.248963 degrees. It means 41 degrees and 24.8963 minutes, which is reasonably nearby but not at all the same place.

    Of course the format 41.248963 degrees is much more useful for computers, so that’s the format that TinyGPS returns.


  28. Mikal

    4 years ago

    @Juan Pablo,

    TinyGPS doesn’t provide a direct way to test this, though you can see it indirectly. encode() only returns “true” on a GPRMC sentence when the status is ‘A’. I’ve got a new library in the works called TinyGPS++. It allows you to look at any field in any string you want. Want to test it? :)


  29. Dhanushka

    4 years ago

    HI Mikal, There is protocol calls SiRF. What is the different between SiRF, UART, . could I use your library to send NMEA 0183 stranded commands via SiRF protocol. I will be glad to hear from you. Thank You Very Much.


  30. Saurabh

    4 years ago

    Is this library compatible with all the gps modules/shields??


  31. Ylrahcs

    4 years ago

    Hi,

    I try to put the code in my Arduino, and get the GPS data, but this is actually what I get:

    Ň`zI |1Aˆ


  32. Lensdigital

    4 years ago

    Is there any way to get latitude/longitude seconds precision to 2 decimal places via this library?
    I’ve tried both gps.f_get_position and gps.get_position but both of them omit last digit. It basically returns coordinate like this: 41N 12′ 48.3″ instead of 41N 12′ 48.32″
    In other words gps.get_position returns 7 digit number instead of 8 digit number for &lat, &lon…

    Thanks! :)


  33. Mikal

    4 years ago

    @Dhanushka,

    SiRF is a binary protocol. It is roughly the equivalent of the NMEA protocol, but, um, binary. (NMEA is a text-based human-readable protocol.) I’m afraid TinyGPS doesn’t understand SiRF, and it can’t send NMEA, only receive it.

    @Saurabh,

    TinyGPS is hardware agnostic. If your module transmits position or time data via the NMEA 0183 $GPGGA or $GPRMC strings, it will work.


  34. Mikal

    4 years ago

    @Yirahcs,

    You probably either are connecting at the wrong baud rate or your device is set to transmit using a binary protocol.


  35. Mikal

    4 years ago

    @Lensdigital,

    Yes, this is something that I need to fix. Stay tuned. The parsing algorithm loses a tiny bit of accuracy.


  36. Ben

    4 years ago

    Hi Mikal,

    How can we add the GPRMB sentence to the library ?
    I would like to use the L and R information for my rudder project.

    Thanks,
    Ben


  37. Mikal

    4 years ago

    @Ben,

    I’ve got a new library in the works called TinyGPS++ that will allow you to look at any field you want in any NMEA sentence type. Wanna try it out?


  38. Baptiste

    4 years ago

    @Mikal,
    Hi, I am interested by tinyGPS++, where can we find it?
    Thanks !


  39. Mikal

    4 years ago

    @Baptiste,

    I am just writing my first TinyGPS++ post right now, but I’d welcome a preliminary look at the first rev of the library: https://github.com/mikalhart/TinyGPSPlus.


  40. Daniel

    4 years ago

    Hi Mikal, first of all thanks for the wonderful TinyGPS library.
    I have one problem getting the altitude. It shows as 1000000. I am using the seeeduino stalker, with xbee GPS. I get the altitude and save in the SD card.
    Below follows the code, anyone have some clue about what is happening?

    float altitude_float = gps.f_altitude();

    char altitude_char[25];
    dtostrf(altitude_float,1,2,altitude_char);
    String my_altitude_as_string = String(altitude_char);

    Then I save “my_altitude_as_string” in my SD card.

    I do the same for latitude and longitude, and the data is coming with no problem. Any hint would help.
    Thank you!


  41. Mikal

    4 years ago

    Daniel, I’m guessing that your GPS doesn’t generate the altitude field–or at least not in a way that TinyGPS understands. It would be easy to prove this by looking at the raw NMEA stream. Could you post a few seconds worth of raw data from your module? You could use code something like this:

    while (true)
      if (ss.available())
        Serial.write(ss.read());
    

  42. Daniel

    4 years ago

    Thank you for your response Mikal,

    After some tests I could realize that the problem is in the NMEA that my GPS is creating.

    Below follows one example of a NMEA generated (I do not have my arduino here to get more NMEA examples):

    $GPVTG,,T,,M,0.064,N,0.1K581N9147,1098.AA451222476235.,,20$G,,$GPRMC,020231.00,A,4458.82317,N,09311.14624,W,0.034,,100913,,,D*65

    I realized something weird. When I turn on the arduino with the GPS, in the first 30 seconds it shows $GPGGA, and after starting to get valid fixes, it does not show $GPGGA anymore, just a NMEA like the one above.

    To get the NMEA above I used the code example you posted.

    I also tested the same code with another seeeduino stalker and another GPS. But the same thing happened.

    What is really weird is that once the NMEA was with the GPGGA rightly and after restarting the arduino I could not see it anymore. I got it just once, even after several tests. =(

    Have you ever experienced something like this before?

    Thank you!


  43. Mikal

    4 years ago

    @Daniel,

    The presence of the $G and the $GPRMC is the middle of that line tells me that you are dropping characters. Make sure the baud rate that you are connecting your serial monitor is greater than GPS module.

    Also, I think what must be happening is that you are doing too much processing of the data (delay()?) when encode() returns true. Call the stats() function and check the checksum value.


  44. Mikal

    4 years ago

    @Daniel–

    Rereading your earlier post, I remember know that you are using the SD library. Try disabling the SD write temporarily and see if that fixes your problem. SD can be notoriously slow.


  45. Daniel

    4 years ago

    Thank you for your fast response.
    I changed my strategy and I am not using the SD card anymore. I got my arduino again and have just performed a new test:

    I connected my GPS bee directly in the ports 2 and 3 of my arduino, and then I am using SoftwareSerial library. Then, I use the arduino serial to print in the serial monitor (I did this because my arduino uses the port 0 and 1 to connect in the xbee socket, and when I use the socket I cannot print in the Serial at the same time because they share the same ports).
    Below follows my code:

    #include
    #include “TinyGPS.h”
    TinyGPS gps;

    #define RXPIN 2
    #define TXPIN 3

    SoftwareSerial nss(RXPIN, TXPIN);

    void setup() {
    Serial.begin(57600);
    nss.begin(9600);
    }

    void loop()
    {
    unsigned short sentences = 0, failed = 0;
    unsigned long chars = 0;

    gps.stats(&chars, &sentences, &failed);

    while (nss.available())
    {
    char input = nss.read();
    Serial.print(input);
    if (gps.encode(input))
    {
    float lat, lon;
    unsigned long age;
    gps.f_get_position(&lat, &lon, &age);

    Serial.print(“\nLatitude.: “);
    Serial.println(lat);
    Serial.print(“Longitude: “);
    Serial.println(lon);
    Serial.print(“Altitude.: “);
    Serial.println(gps.f_altitude());
    Serial.print(“Satellites: “);
    Serial.println(gps.satellites());
    Serial.print(“Age……: “);
    Serial.println(age);

    Serial.print(“Chars….: “);
    Serial.println(chars);
    Serial.print(“Sentences: “);
    Serial.println(sentences);
    Serial.print(“Failed…: “);
    Serial.println(failed);

    }
    }
    }

    And below is part of the content of the serial monitor. Note that after I get valid fixes, the NMEA changes and shows just $GPVTG and $GPRMC:

    $GPVTG,,,,,,,,,N*30
    $GPGGA,042115.00,,,,,0,00,99.9,,6
    A,,,,,9999993
    P,155,1,91,,,37$GV,02,*BGG,,410V
    $GPRMC,042116.00,V,,,,,,,100913,,,N*77
    $GPVTG,,,,,,,,,N*30
    $GPGGA,042116.00,,,,,0,00,99.9,,*
    SA,,,,,99999*
    GV,01,,,32,32,7
    PS2,,,57$PL,01.,
    $GPRMC,042117.00,V,,,,,,,100913,,,N*76
    $GPVTG,,,,,,,,,N*30
    $GPGGA,042117.00,,,,,0,00,99.,,,
    $,1,,,,9,.,9*0$G2,,,16,,,42,4
    $S,262,2,4A
    PL,01,N
    $GPRMC,042118.00,V,,,,,,,100913,,,N*79
    $GPVTG,,,,,,,,,N*30
    $GPGGA,042118.00,,,,,0,00,99.9,,6
    SA,,,,9999993
    PV155,,,11,,,37
    PV,02,68$G,,410V

    [snip]

    PV,02,*
    $G,,420V
    $GPRMC,042121.00,V,,,,,,,100913,,,N*73
    $GPVTG,,,,,,,,,N*30
    $GPGGA,042121.00,,,,,0,00,99.9,,*
    SA,,,,,99999*
    GV,01,,,32,62,7
    PS,,,,47$PL,01.,E$GPRMC,042122.00,V,,,,,,,100913,,,N*70
    $GPVTG,,,,,,,,,N*30
    $GPGGA,042122.00,,,,,0,00,99.9,,6
    S,,,,,9999993
    P,155,1,81,,,37
    PV,02,*A$G,,420V
    $GPRMC,042123.00,V,,,,,,,100913,,,N*71
    $GPVTG,,,,,,,,,N*30
    $GPGGA,042123.00,,,,,0,00,99.9,,6$A,,,,,9999990$P,15,21,9132,3A$G,202,*
    GG,,420V
    $GPRMC,042124.00,V,,,,,,,100913,,,N*76
    $GPVTG,,,,,,,,,N*30
    $GPGGA,042124.00,,,,,0,00,99.9,,6
    S,,,,,,999993
    PV,55,,,91,,,,7
    PV,0,,68$G,,02.,
    $GPRMC,042125.00,V,,,,,,,100913,,,N*77
    $GPVTG,,,,,,,,,N*30
    $GPGGA,042125.00,,,,,0,00,99.9,,6
    A,,,,,9999993
    P,155,1,91,,,37$GV,02,*9$G,,420V
    $GPRMC,042126.00,V,,,,,,,100913,,,N*74
    $GPVTG,,,,,,,,,N*30
    $GPGGA,042126.00,,,,,0,00,99.9,,6
    SA,,,,9999993
    PV,05,,,39,,,,7
    PV,02,24,*
    $L,,40,4$GPRMC,042127.00,A,4458.79572,N,09311.14975,W,0.881,,100913,,,A*6C
    Latitude.: 44.98
    Longitude: -93.19
    Altitude.: 1000000.00
    Satellites: 255
    Age……: 145
    Chars….: 7642
    Sentences: 0
    Failed…: 58

    [snip]


  46. Mikal

    4 years ago

    @Daniel,

    What happens if you just put this code in your loop?

    void loop()
    {
      while (nss.available())
      {
        char input = nss.read();
        Serial.print(input);
      }
    }
    

  47. Abhishek Nandwana

    4 years ago

    Hi MIkal, I am interested in reading the definitions of the functions in the TinyGPS library. Can you help me with this? Nice work by the way, thanks a lot for your great work.


  48. Mikal

    4 years ago

    @Abhishek,

    I think I would look at some of the example code that is bundled with TinyGPS. Can you start there?


  49. Bernhard K

    4 years ago

    Hi,
    I am working with Leica DGPS Receivers that give accurate results in the cm range. The NMEA sequences are the same as usual, but GGA and RMC have more digits, like

    $GPGGA,102644.00,4813.7943164,N,01621.5693035,E,2,05,2.3,215.472,M,,,0.00,0000*2B

    TinyGPS++ can parse the sequences OK, but the transformation to floats is not accurate to the last significant digit:

    4813.7943164 (NMEA) should Output 48.229905273 (degree)

    TinyGPS++ converts the Latitude to 48.229904174
    I think this Comes with the Int/float conversion that is internally done in TinyGPS++

    The error does not occur with plain vanilla GPS Receivers that are limited in their accuracy anyway.
    Do you have any idea how this could be solved? Unfortunately C/C++ is not my first language so I am more or less at a loss when trying to change the conversion Routines

    Thanks!
    Bernhard


  50. Mikal

    4 years ago

    @Bernhard,

    See my response on TinyGPS++.

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