Direct RTK link: GNSS base → Emlid M+ → Pixhawk Cube (without Mission Planner)

Hardware Pixhawk family
1

Hi all,

I’d like to know if it’s possible to inject RTK corrections directly into a Pixhawk Cube (not through Mission Planner), but directly from a base station.

For example:
GNSS base → RFD900 → RFD900 → Emlid M+ → Pixhawk Cube

I’ve read several guides, but they all describe sending RTK corrections to Mission Planner first and then forwarding them to the drone, like this:

cubepilot
cubepilot1003×669 48.5 KB

We already have that method working, but we need a direct link because the laptop running Mission Planner will be too far from the GNSS base.

Any advice or examples of this kind of direct RTK injection would be really appreciated!

2

Should work with your components.

You need to use the RFD900 as a seperate corrections link.
Wire Base GPS TX to the base RFD900 RX. UAV RFD900 TX goes to the Here4 RX. (UARTS)

The RFD modules need to be reconfigured for RAW Data instead of mavlink.

You need to configure the Base GPS to output only the needed RTCM messages at 1Hz (or 2), no NMEA!

If you have 3 RFD900 it might be possible to use them with the multipoint firmware, but i am not sure.

1 Like
3

Thaks @YupsUAV!, I’ll try that.