How to know that RTK is decreasing location uncertainty

Ground Control Software Mission Planner
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1

Hi!

In Mission planner, when I see in the GCS HUD that I am in RTK float and later RTK fixed. Is there any way I can actively see how rtk corrections affect the measurement uncertainty of my location (gps and local)?

I see that ardupilot does not support (missing) the GLOBAL_POSITION_INT_COV OR LOCAL_POSITION_NED_COV messages, otherwise I would assume one could look at the covariance values and see how they decrease, but it appears that is not an option. Is there a way for me to see the active measurement uncertainty of location in Mission Planner or through a mavlink message?

Thanks

2

Hi I think I found the solution! You should see a difference in the GPS_RAW_INT message when using mavlink2 you should see the values of the h_acc decrease!