I am testing a moving baseline RTK GPS setup in SITL before implementing it on hardware due to cost constraints. The goal is to achieve precise yaw estimation using GPS yaw. However, I encounter the error “GPS2 yaw not available” during testing in SITL.
I have updated the moving baseline class to process and validate the baseline distance, even when the antenna distance is less than the recommended 30cm minimum distance.
Here is a list of parameters required for sole sitl testing. However, I encountered errors in SITL, indicating that there are no dedicated backend classes for implementing moving baseline in SITL:
GPS1_POS_X
GPS1_POS_Y
GPS1_POS_Z
GPS2_POS_X
GPS2_POS_Y
GPS2_POS_Z
SIM_GPS1_TYPE
SIM_GPS2_TYPE
SIM_GPS1_POS_X
SIM_GPS1_POS_Y
SIM_GPS1_POS_Z
SIM_GPS2_POS_X
SIM_GPS2_POS_Y
SIM_GPS2_POS_Z
If I need to set these parameters with respect to the antenna distance in the moving baseline setup, which is approximately half of the recommended 30cm distance, what exact changes should I make? Your guidance would be highly valuable.