I could not find info here about this system so I started a new post.
I splurged a bit and bought the Dual antenna Holybro H-RTK Mosaic-H GPS system for GPS YAW only to find little in the way of documentation on this new system. I’m also new to all this but I do have the system (sort of) up and running with RTK fix on the first GPS (rover v.4.5, orange cube plus, using the Iowa RTN network for RTK). However, the GPS2 states nofix. The messages state the GPS2 is found but the drivers keep trying to connect and looping through the baud rates.
My first question; when there is a single GPS module with dual antennas do both show up as GPS and GPS2 On the HUD?
Hi @jtandhz,
I think this is the documentation that will work for this GPS.
What’s perhaps confusing is that the GPS is dual antenna but there’s actually only one GPS unit. This means you won’t see any GPS2 data.
Thank you rmackay9 ! Your link was the documentation I had used for my system. I’m glad to get the dual antenna/single (single GPS) unit clarified. I guess I can stop trying to fix something that’s not broken. What still confuses me (lots to choose here) is why I’m still receiving the message about the 2nd GPS (GPS2) being found in the messages. It is still trying all the baud rates trying to get GPS data from GPS2 ???
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Hi @jtandhz,
If GPS_TYPE2 (or GPS2_TYPE) is set then it will still be looking for a 2nd GPS. Could you set that parameter back to 0?
The Mosaic-H is impressive for sure. I had the chance to work with one briefly and enjoyed it.
From a cost /benefit standpoint, I didn’t find it any more capable than a pair of Zed-F9Ps, so it wasn’t worth the high cost to continue using it.
Guessing the Holybro variant isn’t so different from ArduSimple’s. Here’s their doc:
EDIT:
And here’s Holybro’s own guide. It’s a bit misleading, as I was using a Mosaic-H as early as ArduPilot 4.2.
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Thanks again rmackay9, my GPS2_TYPE was set to find a seconds GPS and resetting it back to 0 solved the problem. Yes, the Holybro mosaic is expensive but it came with all the antennas and cables. I’m glad Yuri_Rage found it impressive and thanks for the links. My system uses a small 21 inch electric mower so I’m hoping for something impressive.
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Unsure what going on here. I reconfigured my Holybro Mosaic-H RTC dual antenna to GPS1 (orange cube plus) and was getting the SBF detected at all baud rates loop again and nothing I tried would change it. So just to see I unplugged the GPS cable so there is no power or connections to the GPS and cube, but even after rebooting everything MP still reports SBF found (continues to baud loop, found at all baud rates) and my GPS states NO FIX. Without a GPS connected I would expect to see NO GPS, but it states NO FIX??? Still struggling with this…
Here are my prams
6224.param (15.9 KB)
I following this post!
@jtandhz
I have used Septentrio for over 15 yeras. while it may seem that the zed F9P opeastes just as good, it doen’t. you need to configure the septentri using either Rxcontrol or the web interface when you connect to it via the USB port. the web interface is easire to unerstand and once connected simply type in 192.168.3.1into Chrome url.
if using a a rover (like me) I have set it to only use 1 antenna.
you will also need to configure what is sent to each port (excepte the USB) -= either NMEA or SBF and what messages for each are sent.
if set up as a bas then you will need to tell it to send the correct RTCM messgaes to the port that is plugeed into the flight controller.
you cam also set the baud rates here as well so that will stop the poling at ardupilots ends.
if sending SBF (preferable to NMEA) then you will need to only send the:
PVTGeod>PVTGeodetic, and PVTGeod>VelCovGeodetic; and
PVTExtra>DOP; and
Status>ReceiverStatus
when you make changes to anything you need to save them to the Boostrap. with the buttonts the show up in the lower right corner after about 3-5 seconds from clicking the finished button.
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Jason, Thank you for the information. It parallels everything I have tried. The Mosaic works great via USB and RXtools and that was what I used to configure the system. I used SBF with all the PVT choices you listed. Trying NMEA would result in baud spamming of all speeds to MP and never worked. The Holobro Mosiac supports NTRIP client/server directly however it would get stuck on initializing and never did work. What I suspect is the Holobro interface. I started to have concerns when the RXtools antenna setup described how important the antenna setup was and the Holybro supplied Harxon HX-CH7603A antenna was not listed in the updated setup database. I contacted Harxon for antenna data and received a sales brochure about it. Holybro support was, well let’s just say not too many electrons were inconvenienced on my behalf. I have no doubt the Septentrio Mosaic-H is a very fine module and their support has been the best of the three. What I have never seen, is success with the HoyoBro Mosaic-H Dual antenna I have. If anyone out there has a great how-to video please send me a link! I have not failed; I’ve just found many ways that did not work. I’m holding onto the unit and some hope, or better firmware. I’m now using a CUAV C-RTK 2HP unit and I could not be happier! Slick, simple and RTK accurate. Jon
I have same dual antenna module, and I got prearm: need alt estimate. what could be in that case?
Have you set this outside long enough to acquire a fix? This Holybro model does not appear to be very familiar on this forum. I replaced mine with a CUAV rtk and I’m quite happy with it’s performance. However, I’m revisiting the Holybro H-RTK Mosaic for a new project as I’ve now found the dropping of the RTK corrections were not the fault of the Holybro unit. Just curious, are you using the SBF format or the NMEA? SBF worked well for me however, the NMEA stream resulted in baud spamming of “gps found at” (every speed)
@jtandhz I using this one, i will go to works soon and I will see what i can do about it, because they asking altitude estimate 
H-RTK mosaic-H (Dual Antenna Heading) – Holybro Store
This is sbf antenna. And to your question, yes i keep it for like 7-10 minutes.