I am new to ardupilot environment. I am trying a ardurover with speedybee f405 v3. I am facing GPS issue. I am using cuav hp2 rtk moving baseline for yaw with rtk. I am seeing rtk float but “unhealthy ahrs”. I have set all the parameters as mentioned in the CUAV website. The gps is connected to f405 via serial port 3 . Issue I feel is , epv value is 65535 !. Number of satellites is 51 (open sunny sky). Lattuitude and longitude are correct. fix type is 5.
I have used rm3100 with lc29h da module earlier without moving base. I faced issues like " GPS unhealthy" and was unable to arm. What could be wrong ? x2.param (16.9 KB)
Update, the speedybee f405v3 do not have moving baseline in the firmware it seems. I had to build custom from Ardupilot. I was able to add gps1_mb parameters. In messages cuav is recognised. However gpsyaw is 655.35. working on it.
Tutorials use CAN. I use UART. CUAV documents (very limited ), does not specify any difference in output exist or not. Is that an issue ?
I connect CUAV module with USB and there was zero output initially. Same behavior when two antennas connected. But it showed NEMA values with one module connected. I again connected second antenna and it is sending NEMA via USB. Here from “UPrecise” tool i can see uniheading values. it is changing randomly . How do I verify GPS module recoganizes second antenna and outputs proper yaw ?
I can see 3d dgps while using ntrip from rtk2go via mission planner. Not sure this is a reason. Using same ntrip lc29h module achieves rtkfix !.
I am reading more and checking. I am asking help if anyone familiar.
Aftern going throgh tutorials - I got it to work. These are my observations and i could be wrong. I followed a ardusimple compass tutorial which manually sets the parameters. I cant find gphdt is.
My serial port is 6 and baud rate is 230400. It seems ardupilot uses this auto config. I disabled auto_config and was able to see gpsyaw value. Tutorial sets unicore as NMEA as it seems to be for prior version ardupilot.
However while moving if gpsyaw randomly goes to 655.35 and then i have to restart the flight controller to view the angle. I verified this by connecting cuav module to Uprecise and able to see right yaw values. To me it appears the UART configuration for the unicore modules is not complete or poorly documented. The value of gps_drv_options makes no difference.I do not understand the purpose. rovr_worki.param (16.9 KB)