I conducted tests today and confirmed that APM supports takeoff and landing on a moving ship. I configured the UM982 beacon into Moving Base mode, which updates the drone’s home position and transmits RTCM data simultaneously while moving. In Moving Base mode, the base station moves, and the drone’s home point follows accordingly. I thought this indicated that the function had been successfully implemented (at this point, the ground station showed RTK Fixed and GPS HDOP: 0.7).
Subsequently, I placed the beacon on a vehicle and performed another test. The base station moved with the vehicle, and the home point also followed, but there was a noticeable delay on the ground station. The home point only caught up with the base station after the vehicle stopped. Additionally, the drone kept reporting errors as follows:
2025/12/2 16:07:58 : PreArm: GPS positions differ by 95.2m
2025/12/2 16:07:55 : AHRS: EKF3 active
2025/12/2 16:07:55 : AHRS: DCM active
2025/12/2 15:58:50 : PreArm: GPS and AHRS differ by 29.6m
During these error reports, the drone remained stationary. I would like to know: Does APM support RTK positioning on a moving ship? Could the issue be caused by my configuration?