I’ve been looking around arducopter and RTK topics but I struggle to understand correctly how all of this works.
From what I understand, it is possible to inject RTK Data using MAVLink and GPS_INPUT. This seems to work because Mission Planner detects “RTK Fix”.
But what happens inside the arducopter code ? Does it have a specefic set of parameters for the EKF that are activated when recieving RTK data ?
Also, will it work if I only send accurate Longitude and Latitude information ? Or do I have to inject velocity and other information ?
And finaly, if I send altitude information while in RTK fix, will the drone use it automatically or do I also have to change some other parameters ?
If anyone could clear this up for me it would help me a lot !
Thank you all for your contributions,