Working on a boat with the following hardware:
Cube Black controller
2 X Sparkfun ZED-F9P GPS breakout boards.
and here link remote.
I’am trying to get GPS YAW (moving baseline working)
i have followed the instructions from he documentation. But iam stuck with a “GPS yaw” of 655,35
I have tried a lot of the troubleshooting steps i have found looking around online so far without any luck.
I tend to get a satellite count of about 30 and an HDOP between 0.5 - 0.6
and my fix is usally GPS: 3D fix and GPS2: rtk float.
i’am also experiencing a problem where the system reports that its ready to arm, but when i then do it i get a EKF variance and then it fail-safes. not sure if this is related to the GPS yaw not working.
Your gps2 being in rtk float suggests it doesn’t have good quality, it won’t send gps for yaw; you need to put it somewhere with a better view of the sky。
I was in the same situation the other week…
65535 is the full value of a 16bit variable… But in this case it indicates that something is wrong. Possibly that it cant solve the position of the two gps’es in regards to eachother, with configured values…
Make sure the gps_pos values are entered correct, these gives the algoritm the distance between the two gps antennas. With theese valus wrong it will never be able to sort out the position data to resolve a valid bearing between the antennas… Strangely I had to tweak my valus down a little bit from what i was physically measuring… I beleeve sombody said they should be in +/-20% but i had to get closer than that to get a valid reading… (And a rtk fixed solution for the second gps)