Disregard tape base & Rover ,I don’t know which is which now if autopilot determines.
I think you need to flip-flop the blue and yellow wires on one side of each GH connector.
In other words, the wire colors should be in identical order on every termination.
Your tape labels are correct based on the last parameters I saw. GPS1 is the moving base (the one with protocol 17).
Thanks Yuri, I need to have Steve Johnson check his wiring diagram again. I had mine wired exactly. In his defense if it is correct the pin out he has for the cube and the rtk2b boards cannot be correct. because it is wired TX TX and RX RX. as you suggested. Regardless I now have GPS with 3D dgps and GPS 2 with RTK FIX without NTRIP! THANKS I will post pics when back together and have a few suggestion’s that I have not seen in any other post.
Part of the problem is that ArduSimple chooses to use a non-standard labeling convention, which confuses EVERYONE.
On the good side, the products are high quality, and the GH connector does follow the Pixhawk standard, so if you didn’t pin the connector yourself and just used one off the shelf, it would be plug-and-play.
Also, the RTK Fixed status on the second GPS does not mean that you are getting increased overall accuracy. That is a byproduct of the moving baseline configuration and the mechanism by which heading (yaw) is determined. It’s a very good sign, though, and a good indicator that your system is functioning properly thus far.
If you want high accuracy, you still need to use an external correction source such as NTRIP or a fixed base installation.
I think you are right Yuri. The wiring convention is not reversed when you are using the GH connector. I remember it is reversed when we are using the solder tabs to move the UART2 signals between the boards to transmit the correction signal from on GPS1 to GPS2. Sorry for the confusion @Rustey! I am glad to fix the wiring diagram to prevent others from being confused also.
I tried to delete the original diagram but I am having difficulty doing that task. I may need help to eliminate the diagram that has an error on it.
I have been out there on a tractor all day moving dirt and tomorrow I will be out there all day loading timber so it will get hauled off. I will be away from the computer again all day
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Thanks, so much Steve ,I thought I was getting old! That make sense to me now. No problem. I have read wiring Diagrams for 40 + years and that did not add up.
Right ,I will be looking to get my Base station going now with a c00zedf9p configured by the autopilot? thank you Yuri.
Well, here I am stuck again . (EK3 awaiting gps config data) message never went away. I disregarded message and finished my retrofit to mower. Took it out for test drive. I thought because I was under roof that it would go away. Still there.
myparamfile.param_6.param (15.6 KB)
In that picture it indicates that neither GPS card is working they way you would expect. They should be indicating RTK Fixed. Its puzzling that even GPS2 does not indicate RTK. It looks like the GPS units are not working even though they have power and are plugged in. Do you have the antennas connected and correction signal from some source? I did a compare on the parameters and the only thing I can find off normal is your GPS_AUTO_SWITCH should be set to 0 to make it use GPS1 as the primary GPS.
No I’m not connected to ntrip yet or base station yet! I thought this should work somewhat without correction’s. I have ,when first turned on I have rtk fix then it goes to dgps on both. I think Yuri said that was closer to correct than rtk fix? until you have ntrip or base station corrections? Thanks Steve.
Yes it should work. Both are reporting DGPS fix type, so they are recognized. But neither are receiving corrections, and neither have acknowledged auto configuration
GPS2 should indicate RTK Fixed if moving baseline is set up correctly. It’s possible either the position offsets are incorrect or GPS_DRV_OPTIONS,1 is configured but not wired for direct UART2 comms.
More puzzling is why they are not auto configuring. Reset them to default in u-Center before further troubleshooting.
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What version of Ardupilot are you using?
The screenshot above showed v4.5.7 up in the title block.
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Hello Community,
I am experiencing a similar issue as Rustey. I have a ArduMower (Exmark Lazer Z 52" 30HP) I built and have been using for two years with great success. You can see the hardware setup I am using in the attached picture. I recently updated Mission Planner to the latest SW version as well as updated the firmware in the flight controller. (Mission Planner 1.3.82 build 1.3.8979.17128 ArduRover V4.6.0). My problem is I have never been able to set my parameters to GPS_AUTO_CONFIG =1. I originally setup my GPS boards using u-center. I want to use the AUTO config as suggested many times here, but I just can’t seem to get it figured out.
This is what I get on HUD with the conditions below.
GPS_AUTO_CONFIG = 0, Ntrip or base station providing corrections, clear view with 30+ sats, and GPS HDOP < 0.8
GPS : rtk Fixed
GPS2: rtk Fixed
With all the same above and RTK corrections not connected I get:
GPS : 3D dgps
GPS2: rtk Fixed
When I turn on GPS_AUTO_CONFIG = 1 with RTK corrections connected I get:
GPS : rtk Fixed
GPS2: 3D Fix
I think this is telling me the corrections are not getting transmitted over from GPS to GPS2 after Auto Config has done its magic.
As an added bonus even when working with GPS_AUTO_CONFIG = 0, I have always received an “Unhealthy GPS Signal” on the HUD.
I attached the parameters I am using when GPS_AUTO_CONFIG = 1. These are exactly the same as the working parameters with GPS_AUTO_CONFIG = 0.
Any assistance to solve these two issues would be greatly appreciated.
TEST Params 6-18-2025 With Auto Config 1.param (17.1 KB)
Caleb, I have examined your GPS for Yaw related parameters and they look fine. From the information you have given it looks like GPS_Auto_Config never actually runs even though you try to run it. We need @Yuri_Rage on this one but it looks like to me like something is keeping Auto Config from executing. It could be the existing parameters on the GPS boards are holding you back. For the auto config to work the GPS boards need to be reset to the factory parameter set on U-Center. The auto config doesn’t configure every parameter on the GPS cards and it expects the rest to be at the reset conditions.
Good advice. Reset to default. Use auto config. Any other combination of procedures is usually a waste of time.
Steve, Thanks for the quick reply!
I will try resetting the the GPS boards back to factory settings in U-Center, and then again the GPS_Auto_Config in Mission Planner. I will report back if it is successful or not.
I was thinking this might be a good test, but I was a little hesitant since I know they work as they are. Maybe I can save the current parameters out before the reset just in case.
They aren’t working as they are, so it’s not really worth saving anything.
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@Yuri_Rage Not trying to be argumentative by any means, but I would not say “not working”. I would say “not working with GPS_Auto_Config in Mission Planner”. It actually works quite well until I try and turn this on. I run this mower 8+ hours almost every weekend this time of year, and it performs well beyond what my expectations were when I started building it. My thought is if I saved the GPS board configurations, I could get back to a working state more quickly if needed, and keep the mower working until I sort out why this Auto Config keeps defeating me. I know this function works, and it is something I am doing wrong, I just can’t figure it out. I read this forum quite often, and I see your directive to use this option over and over, and I want to comply if I can only get it working. 
My thought is if I have a GPS board failure and this option is working it should be a plug and pray repair, with no need to even open u-center. This is my goal.
This is what I tried:
- I saved the config in u-center for each GPS board.
- I reset GPS boards to default configuration.
- I changed the param. GPS_AUTO_CONFIG = 1 All other params are the same as I uploaded.
- I then rebooted everything.
The result is below:
Note: It was raining, so under roof and this is reason for poor Sat count.
As you can see it appears no data is passed from GPS to GPS2.
- I then turned off GPS_AUTO_CONFIG = 0
Result below:
@SJohnson I was reading through the post “Yuri’s Mower Updates” when you were going through some of the same pains. Unless I missed something I don’t think it said in the post how you finally sorted it out. It looks as if just like me you needed to use the mower for work, and reverted back to setting it up in u-center at that time. I assume you did get it sorted out somehow, and it was not it the post, or I overlooked it.
Any suggestions will be appreciated, and followed to the best of my ability to do so.