Dear Yuri!@Yuri_Ragw
I make a new topic for my trouble: My USV is equipped with X7 PRO and C-RTK 2HP, using Dronecan GPS interface, not UART, not serialx.
GPS_MB1_TYPE=1
GPS_MB1_OFS_X=0
GPS_MB1_OFS_Y=0.75
GPS_MB1_OFS_Z=0
GPS_POS1_X=0.3
GPS_POS1_Y=0.35
GPS_POS1_Z=-0.1
Now,FIX 3D is ok.But gpsyaw=0. satcount=20
I don’t konw why…
So disable SERIAL3, which is incorrectly set to GPS in your param file.
@Yuri_Ragw I set the protocol parameter of serial3 to -1，then rebot x7,but no changes have occurred，gpsyaw = 0
Can this be added to the documentation . By default it seems some UARTs are set to GPS by default and I hadn’t found any mention of disabling until you mentioned it to me a couple of days ago. And now someone else has the same issue.
@Michael_H @owenair the templates in ArduPilot Methodic Configurator that use CAN GPSs do this already, so it is documented.
It’s strange that according to CAUV’s DOC, I set the CAN parameters, but GPSYAW keeps showing 0
Have you set all the necessary antenna position parameters?
Some are missing on the list you posted.
Necessary antenna position parameters：
GPS_MB1_OFS_X=0
GPS_MB1_OFS_Y=0.75
GPS_MB1_OFS_Z=0
GPS_POS1_X=0.3
GPS_POS1_Y=0.35
GPS_POS1_Z=-0.1
Are there any other antenna position parameters that need to be set?
When I back home,Changed to another place,I founded GPSYAW=655.35 …What happened？
There is at least one more parameter describing the distance between the two antennas.
GPS_MB1_OFS_Y=0.75
this parameter is the distance between the antennas
HI Yuri，Does RTK need to output the gphdt statement in the NMEA0183 protocol for gpsyaw to succeed? Is this the reason why my RTK 2HP is not outputting GPHDT?
65535 means valid config, invalid solution.
Get away from buildings. Get a good clear sky view.
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655.35 dispeared!NOW GPSYAW is 0.Does its orientation depend on the hpdpt statement output by RTK?
How many satellites generally need to be searched to achieve normal GPSYAW data? I have found 24 now, and GPSYAW is 655.35
Satellite count is irrelevant. Are you outside and away from buildings?
I will take it to outside tomorrow，If success i will tell every one when I back
This ENTIRE exercise is a waste of time. I’ve told you multiple times to go outside and get a clear view of the sky.
Today，I put it outside under the clean sky. I waitted for 5 min, I saw unhealthy gps singl on HUD,and the gpsyaw is 655.35,satcount 28. This problem is not be sloved。
How many sat constellations are active? Usually it’s a good idea to restrict them to the two best ones.