Dual GPS RTK Fix + RTK GPS for Yaw Setup

ArduCopter Copter 4.5
1

Hi, I have two DroneCAN H-RTK F9P Helical Modules that I have connected to CAN1 and CAN2 of Holybro Pixhawk 6X.
I have one H-RTK F9P Helical Module that I use as Fixed Base.

I want to achieve the following:

  1. RTK Fix on BOTH the DroneCAN Modules.
  2. GPS-for-Yaw
  3. RTK GPS as Altitude Source

Can anyone confirm having a successful setup with these objectives and above modules?

I have enabled CAN and used:
CAN_P1_DRIVER = 1
CAN_P2_DRIVER = 2

I have followed the forum and ardupilot documentation and set the following:
GPS1_TYPE = 22 (DroneCAN Moving Baseline Base)
GPS2_TYPE = 23 (DroneCAN Moving Baseline Rover)
GPS_AUTO_CONFIG = 2
GPS_AUTO_SWITCH = 1
GPS_DRV_OPTIONS = 0 (Default)
GPS_INJECT_TO = 127 (Default)
GPS1_POS_X, GPS1_POS_Y , GPS1_POS_Z and GPS2_POS_X, GPS2_POS_Y, GPS2_POS_Z have also been set

For GPS for Yaw and GPS for Altitude, I have set,
EK3_SRC1_YAW = 2
EK3_SRC1_POSZ= 3

I had a laptop connected to Skydroid T10 via USB for telemetry.

Drone was left on for 15 minutes.

I connected H-RTK F9P Helical Module to laptop, setup SurveyInAcc to 2m, saved position, and clicked Use to start injecting RTK corrrections over SKydroid T10 telemetry.

I am getting RTK Fix only on GPS1 and error Message GPS[2] for Yaw Not Available.

No matter whatever combintaion of settings I change, I can’t get RTK fix on both GPS or have GPS for Yaw available. Kindly help me to set this up.

Screenshot (1061)
Screenshot (1061)1920×1080 273 KB

2

Just a guess, but use the same driver (1) for both. You can disable the second driver (the same driver can handle both ports if they are the same protocol).

3

Hi @Yuri_Rage,

Thanks for your prompt reply. I have followed what you have said but the problem persists.
CAN1 on Holybro F9P is connected to Pixhawk 6X CAN1.
CAN2 on Holybro F9P is connected to Pixhawk 6X CAN2.

I have attached the logs and params file. Please help me sort this out.
@Holybro please check why this cannot be done.

Firmware version is 4.4.4 since 4.5 official version for Holybro Pixhawk6X has gyro calibration issues.

Hexsoon Dual RTK.param (17.4 KB)

Log:
15 min - LOG_DISARMED

Screenshot:

Screenshot (1080)
Screenshot (1080)1920×1080 258 KB

Thanks and Regards.

4

I would recommend connecting both modules to CAN Port 1 for testing.

Can you confirm which module is which and that they are correctly identified in ardupilot so that your GPS_POS settings match the modules?

Also, deactivate Serial 3 and Serial 4, they are both set to 5 (GPS) currently.

5

Thank You @Steffen. Sorry for the late reply as I could not test because of monsoon rain here. It worked. Both GPS is now RTK Fixed. Finally I could take flight. Both modules have to be connected to the same CAN Port using CAN Hub. But I am getting some errors. Will post them.