We are in the process of making our first boat.
Frame for prototype: boogie board
Pixhawk Cube black
Survey GNSS: Comnav T300+ in RTK mode, NMEA GGA, RMC and VTG input to GPS1 connector.
Sonar for prototype PingSonar, but we buy a ECT400.
We have some questions about the parameters to be entered regarding the offsets to be filled in for IMU, GNSS RTK and sonar.
The IMU is behind the center of gravity X=0.193,Y=0 and Z= 0.03. We must enter the offset values IMU to center of gravity or center of gravity to IMU?
The GNSS is just above the center of gravity X=0, Y=0 and Z=0.429 (IMU-GNSS X=0.193, Y=0 and Z=0.399). We must enter the offset values GNSS to center of gravity or GNSS to IMU or vice versa?
Is sonar the same protocol as GNSS?
About the data log, for the POS values (lat,long and alt), it is the position of the boat after the EKF2? At the center of gravity or the Cube?
Do you have advice for EKF2 settings with a GNSS RTK?