Skytraq GNSS Module Arduino Library Documentation

1. Overview

The Skytraq Arduino Library provides an easy-to-use interface for controlling Skytraq GNSS (Global Navigation Satellite System) modules using an Arduino. It supports:

• Configuring GNSS constellations (GPS, GLONASS, Galileo, BeiDou, NavIC)
• SBAS (Satellite-Based Augmentation System) configuration
• Position rate and DOP (Dilution of Precision) configuration
• Position pinning and NMEA talker ID settings
• System restart and factory default commands

This library communicates with Skytraq modules via UART (serial interface).

Note: This library might not work for all development boards yet. It has been tested with ESP32 boards only.

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2. Hardware Requirements

• ESP32 microcontroller (tested with ESP32)
• Skytraq GNSS module
• Connection via UART (TX, RX pins)
• Power supply compatible with the GNSS module

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3. Installation

The library can be installed in one of two ways:

1. Arduino Library Manager
   Search for "Skytraq" in the Arduino Library Manager and install it directly.

2. Manual Installation
   Download the library ZIP from GitHub or another source, and install it via Sketch -> Include Library -> Add .ZIP Library in Arduino IDE.

Include the library in your sketch:

#include "Skytraq.h"

Instantiate the library with TX, RX pins and baud rate:

Skytraq gnss(TX_PIN, RX_PIN, 9600);

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4. Class Reference

4.1 Skytraq

Constructor:

Skytraq(uint8_t txPin, uint8_t rxPin, uint32_t baudRate);

• txPin: Arduino TX pin connected to GNSS RX
• rxPin: Arduino RX pin connected to GNSS TX
• baudRate: Serial communication speed (e.g., 9600, 115200)

Methods:

Method	Description
begin()	Initializes the UART connection.
systemRestart(RestartMode mode, ...)	Restarts the GNSS module. Supports Hot, Warm, and Cold start. Optional parameters allow setting date, time, and approximate position.
setFactoryDefault()	Restores the module to factory settings.
configSystemPowerMode(uint8_t mode, uint8_t attr)	Configures power mode (Normal or Power Save).
configSysPosRate(PositionRate rate, uint8_t attr)	Configures GNSS position update rate (1–50 Hz).
configPosPinningParams(...)	Configures position pinning thresholds for speed, duration, and distance.
configPosPinning(PosPinning mode, uint8_t attr)	Enables or disables position pinning.
configDOPMask(DOPmode mode, uint16_t pdop, uint16_t hdop, uint16_t gdop, uint8_t attr)	Configures PDOP/HDOP/GDOP mask.
configNMEATalkerID(NMEAtalkerID id, uint8_t attr)	Sets the NMEA talker ID (GP, GN, or Auto).
setConstellation(uint8_t constid, uint8_t attr)	Selects GNSS constellations to use.
configureSBAS(const SBASConfig &config)	Configures SBAS settings.
configureQZSS(uint8_t enable, uint8_t channels, uint8_t attr)	Enables/disables QZSS with channel selection.
setTimeout(uint32_t ms)	Sets the timeout for waiting for acknowledgment.
getTimeout()	Returns the current timeout value.

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5. Enumerations

5.1 RestartMode

Value	Description
RESTART_HOT	System reset, hot start
RESTART_WARM	System reset, warm start
RESTART_COLD	System reset, cold start

5.2 PositionRate

Supported GNSS update rates: 1, 2, 4, 5, 8, 10, 20, 25, 40, 50 Hz.

5.3 DOPmode

Value	Description
DISABLE_MODE	DOP masking disabled
AUTO_MODE	PDOP if 3D fix, HDOP if 2D fix
PDOP_ONLY	Only PDOP considered
HDOP_ONLY	Only HDOP considered
GDOP_ONLY	Only GDOP considered

5.4 PosPinning

Value	Description
POS_PINNING_DEFAULT	Default configuration
POS_PINNING_ENABLE	Enable position pinning
POS_PINNING_DISABLE	Disable position pinning

5.5 NMEAtalkerID

Value	Description
NMEA_TALKER_ID_GP	GP mode
NMEA_TALKER_ID_GN	GN mode
NMEA_TALKER_ID_AUTO	Auto mode (NMEA 4.11+)

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6. SBAS Configuration Structure

struct SBASConfig {
    uint8_t enable;           
    uint8_t ranging;          
    uint8_t rangingURA;       
    uint8_t correction;       
    uint8_t trackingChannels; 
    uint8_t subsystemMask;    
    uint8_t attr;             
};

• enable: 0 = disable, 1 = enable
• ranging: 0 = off, 1 = on, 2 = auto
• rangingURA: 0–15, default 8
• correction: 0 = off, 1 = on
• trackingChannels: 0–3 channels
• subsystemMask: bitmask for SBAS systems (WAAS, GAGAN, EGNOS, MSAS, etc.)
• attr: 0 = SRAM only, 1 = SRAM & FLASH

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8. Error Handling

• All configuration functions return true if the module acknowledges the command (ACK), otherwise false.
• Timeout for acknowledgment can be adjusted using setTimeout().

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9. Notes

• Always verify the supported position rates and constellations for your Skytraq module in its datasheet.
• SBAS and QZSS support may vary depending on module firmware.
• Tested primarily on ESP32; compatibility with other boards may vary.