Novatel IGM - SPAN - A1 Measurement Correction Issue

Hardware Platform: [ DRIVE AGX Pegasus™ Developer Kit]
Software Version: [DRIVE Software 10]
Host Machine Version: [Ubuntu 18.04]


I would like to correct Novatel’s GPS measurements by using a Ntrip Client via HTTP. I am able to read the data from the server and I would like to write the correction data to Novatel. As far as I know I can’t write to novatel by using DriveWorks API. ( dwSensorGPS ).

I would like to use Novatel’s communication ports as serial ports but When I connect novatel to AGX I just only see it as an usb device, here is dmesg output:

New USB device found, idVendor=09d7, idProduct=0100, bcdDevice= 1.01
New USB device strings: Mfr=1, Product=2, SerialNumber=3
Product: Novatel GPS Receiver
Manufacturer: Novatel Inc.
SerialNumber: BJYA19220095P

But if i connect novatel to an ubuntu 18.04 x86 computer there appears additional ports such as:

novatel_gps ttyUSB0: novatel_gps converter now disconnected from ttyUSB0
novatel_gps ttyUSB1: novatel_gps converter now disconnected from ttyUSB1
novatel_gps ttyUSB2: novatel_gps converter now disconnected from ttyUSB2

I tried to use 3rd party Novatel Driver from github. I connected User Port to USB via Profolic USB Adapter. AGX can detect Profolic adapter on port /dev/ttyUSB1 but I can’t see gps stream data. I have a problem with this too.

In summary, I want to correct my Novatel GPS measurements by writing correction messages. I can do this with x86 ubuntu 18.04 computer, I can’t figure out doing this by using Drive AGX Pegasus. I appreciate your help.

Best Regards,

Best Regards,

Hello again,

Is there way to see virtual serial ports of Novatel IGM on AGX when we connect Novatel’s USB port to AGX ?? on x86 machines I can see Novatel is creating virtual serial ports but I can’t see them on AGX

Hi @csari3,

Please try with running ntripclient with “-D /dev/ttyUSBx” option. Thanks!

I can’t see virtual ttyUSB ports when I connect novatel span to AGX via USB

Are you using Hyperion?

Below is the snippet from /usr/local/driveworks-2.2/tools/preFlightChecker/config/hyperion7-1-full.json on your host system (installed with DRIVE Software). “device=0” tells USB index 0 port is used for it.

Please check to see if installed correctly. Thanks!

                "name": "gps:novatel",
                "parameter": "device=0",
                "properties": null,
                "protocol": "gps.novatel"

okay the problem is that:

I connect usb to novatel, although novatel is streaming data
I get:
Lat 0 Lon 0 error why do i get this ?

the command i use is:

./sample_gps_logger --protocol=gps.novatel --params=device=0

I asked this before, the answer is to drive the vehicle higher speeds but I can see that novatel is streaming data without problem but with sample_gps_logger gives out Lat 0 Lon 0 Alt 0, GPS Led is also green on Novatel

You’re right. Please make sure moving out side in order for the Novatel to work correctly.

hey Vick,

Why can’t I see virtual serial ports of Novatel ? Is it related to module problem ? Do I need to install some module drivers ?

Could you check if any suspicious messages?

no suspicious messages. It is just not shown up in the output of dmesg. No error, It sees Novatel SPAN IGM as a usb device but virtual ports would not show up. Can it be because of USB - Virtual Serial Port multiplexer’s driver is not detected by kernel ?

Could you share the full log for my checking? Thanks!