C94-M8P, Pixhawk, RTK and ROS

ArduRover Rover 3.3 / 3.4
1

Objective: RTK w/ C94-M8P dev boards.

Components:
One C94-M8P is a base station; the other is a rover.
Antenna link is used, leaving USB as the control link.
UpBoard (a single board computer running a debian distro.

Comms:
C94 base <=Antenna=> C94 rover <= USB => UpBoard <=Serial=> PixHawk
Since I use ROS I communicate with the PixHawk via mavros.

Progress:
Written Python code, which runs on UpBoard, to communicate with and control the C94.
Python code can now:

  1. Configure C94. UBX-CFG messages, e.g. UBX-CFG-PRT; Enable/disable messages (UBX 06-01).
  2. Read NMEA style ASCII messages. from the C94.
  3. Begun work on decoding RTCM messages.

This repository has been helpful: https://github.com/Korving-F/ublox

Expect to have to send at least MAVLINK_MSG_ID_GPS_INPUT and MAVLINK_MSG_ID_GPS_RTCM_DATA messages to the Pixhawk.

2 questions:

  1. Is there some code which already implements these features?
  2. Assuming no to Q1, is this something folks might use?
2

take a look at https://github.com/ArduPilot/MAVProxy/blob/master/MAVProxy/modules/mavproxy_DGPS.py

or: