Supported Sensors

Novatel OEM6

novatel-oem6
V2.0.8-pr.8
Ethernet
380

PolySync Configuration

See the sensor notes at the bottom of this article for steps on configuring the Novatel system prior to connecting it to PolySync. * Define the node in the SDF Configurator * Run the Dynamic Driver interface

Input Message Types

Input Message Type Input Message Note
ps_byte_array_msg Raw bytes from Ethernet socket

Output Message Types

Output Message Type Output Message Note
ps_gps_msg Not published to the PolySync bus by default
ps_imu_msg Not published to the PolySync bus by default
ps_platform_motion_msg Published to the PolySync bus by default

Command Line Arguments

Flag Description
-d enable additional debugging output [optional]
-t perform a validation test on the interface [optional]

Sensor Configuration Parameters

Parameter ID Description Value Type Values Notes
1001 Sensor 0 Identifier 1 1
1002 Sensor 0 X Position 3 0.0
1003 Sensor 0 Y Position 3 0.0
1004 Sensor 0 Z Position 3 0.0
1005 Sensor 0 Roll Orientation 3 0.0
1006 Sensor 0 Pitch Orientation 3 0.0
1007 Sensor 0 Yaw Orientation 3 0.0
5500 Get GPS information from what the device determines is the best possible solution (value 0 means disabled) 1 1
5501 Get GPS information with PDP filter applied (value 0 means disabled) 1 0
5502 Get GPS information using RTK (value 0 means disabled) 1 0
5505 Data rate of IMU [Hz] 1 0

IO Configuration Parameters

Parameter ID Description Value Type Values Notes
1001 Sensor 0 Identifier 1 1
1002 Sensor 0 X Position 3 0.0
1003 Sensor 0 Y Position 3 0.0
1004 Sensor 0 Z Position 3 0.0
1005 Sensor 0 Roll Orientation 3 0.0
1006 Sensor 0 Pitch Orientation 3 0.0
1007 Sensor 0 Yaw Orientation 3 0.0
5500 Get GPS information from what the device determines is the best possible solution (value 0 means disabled) 1 1
5501 Get GPS information with PDP filter applied (value 0 means disabled) 1 0
5502 Get GPS information using RTK (value 0 means disabled) 1 0
5505 Data rate of IMU [Hz] 1 0

Node Configuration Parameters

Parameter ID Description Value Type Values Notes
40 Executable File Path 4 /usr/local/polysync/bin/polysync-core-dynamic-driver
42 PolySync-Abstraction-Layer Interface File Name 4 /usr/local/polysync/lib/libps_novatel_oem6_interface.so
800 Active Coordinate Frame Identifier 1 4 Vehicle centered coordinate frame
2032 Publishes message type “ps_platform_motion_msg” (value 0 means disabled) 1 1
2034 Publishes message type “ps_imu_msg” (value 0 means disabled) 1 0
2036 Publishes message type “ps_gps_msg” (value 0 means disabled) 1 0
2002 Publishes message type “ps_byte_array_msg 1 0