Mavlink injection

Kenny, I’m not familiar with mavlink injection! I plan to use telemetry 1 with aerosky mid range radios from base station to rover???

Thanks in advance for your quick responses to my questions. Looking fwd to the day when I don’t have any!
Have a blessed day! Rustey

1 Like

It’s possible to send RTCM3 from the NTRIP or fixed base station to the moving base via MAVLink2 messages. If you’re using Mission Planner, look in the Setup tab under Optional Hardware.

Since you’re using a separate radio for RTCM3, Kenny’s parameters are probably very close to what you need.

1 Like

Thanks Yuri,
I’ve been following you and Kenny for some time now and ya’ll are the top dogs in the lawn mower rovers.
I know how much time and effort you’ve put into this project. My hat’s off to you both.
I’m not at all familiar with Mavlink ,so it’s back to the books for me.
Thanks again to you both.
Best wishes to you and yours, Rustey

1 Like

MAVLink is the telemetry protocol that ArduPilot typically uses to communicate with the GCS computer/station.

In rereading your first comment here, it appears you may want to use MAVLink RTCM3 injection via the Telem1 port. We can definitely help one way or the other.

Sounds good. How do I do that…Rustey

Let’s assume that the TELEM1 port is mapped to SERIAL1 for this example (that’s what it is on the Cube Orange that Kenny and I use).

Go to Mission Planner’s Setup tab and open the Optional Hardware section on the left. Select “RTK/GPS Inject.” Use the selections on that page to connect to an NTRIP server or your own fixed base. If you need help with that, we’ll need to know the source of your fixed base RTCM3 data.

Yuri, sorry it took me so long to get back to this but decided to do a mockup of my intended build be fore mounting it on my mower!
Attached pics.
Many thanks to Kenny for his parameters file. (saves me many hours of studying the hundreds of parameters).
It has a GPS 3d fix but am not able to arm ardupilot. I had rtk yesterday without HxGN Smartnet. (comes with C099-F9P) I signed up for free 1 month service but I am not able to connect to server. and ucenter is no longer sending data to the screen (screen black)


any suggestions?
Rustey

What does it say on the messages tab?

10/1/2021 7:17:21 AM : IMU1: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 7:17:21 AM : IMU0: fast sampling enabled 8.0kHz/2.0kHz
10/1/2021 7:17:21 AM : RCOut: PWM:1-12
10/1/2021 7:17:21 AM : CubeOrange 0046002F 3239510C 38363839
10/1/2021 7:17:21 AM : ChibiOS: 08877972
10/1/2021 7:17:21 AM : ArduRover V4.1.0 (60a7194b)
10/1/2021 7:17:21 AM : IMU2: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 7:17:21 AM : IMU1: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 7:17:21 AM : IMU0: fast sampling enabled 8.0kHz/2.0kHz
10/1/2021 7:17:21 AM : RCOut: PWM:1-12
10/1/2021 7:17:21 AM : CubeOrange 0046002F 3239510C 38363839
10/1/2021 7:17:21 AM : ChibiOS: 08877972
10/1/2021 7:17:21 AM : ArduRover V4.1.0 (60a7194b)
10/1/2021 7:17:21 AM : IMU2: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 7:17:21 AM : IMU1: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 7:17:21 AM : IMU0: fast sampling enabled 8.0kHz/2.0kHz
10/1/2021 7:17:21 AM : RCOut: PWM:1-12
10/1/2021 7:17:21 AM : CubeOrange 0046002F 3239510C 38363839
10/1/2021 7:17:21 AM : ChibiOS: 08877972
10/1/2021 7:17:21 AM : ArduRover V4.1.0 (60a7194b)

If you try to arm and cannot, there should be messages regarding failsafes or prearm safety checks. I see nothing so far that helps to diagnose. You could also share a .bin log.

EDIT:
On second thought, it looks like it’s rebooting constantly. Do you have a power problem?

I don’t think there is a pwr problem, I am running on 2 separate usb ports! I will try to plug in the cube batt supply.
also my telemetry radios are of a separate 5v pwr supply and my servos are not in use!

You shouldn’t need 3 distinct power supplies to bench test. That might be your problem…

well with 1 usb with 4 outlets the log changed but still won’t arm. 10/1/2021 9:36:36 AM : Radio Failsafe Cleared
10/1/2021 9:36:36 AM : RCInput: decoding PPM
10/1/2021 9:35:59 AM : SmartRTL deactivated: bad position
10/1/2021 9:35:50 AM : GPS: u-blox 1 saving config
10/1/2021 9:35:44 AM : AHRS: EKF3 active
10/1/2021 9:35:44 AM : EKF3 IMU1 origin set
10/1/2021 9:35:44 AM : EKF3 IMU0 origin set
10/1/2021 9:35:36 AM : EKF3 IMU1 tilt alignment complete
10/1/2021 9:35:36 AM : EKF3 IMU0 tilt alignment complete
10/1/2021 9:35:34 AM : IMU2: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU1: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU0: fast sampling enabled 8.0kHz/2.0kHz
10/1/2021 9:35:34 AM : RCOut: PWM:1-12
10/1/2021 9:35:34 AM : CubeOrange 0046002F 3239510C 38363839
10/1/2021 9:35:34 AM : ChibiOS: 08877972
10/1/2021 9:35:34 AM : ArduRover V4.1.0 (60a7194b)
10/1/2021 9:35:34 AM : IMU2: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU1: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU0: fast sampling enabled 8.0kHz/2.0kHz
10/1/2021 9:35:34 AM : RCOut: PWM:1-12
10/1/2021 9:35:34 AM : CubeOrange 0046002F 3239510C 38363839
10/1/2021 9:35:34 AM : ChibiOS: 08877972
10/1/2021 9:35:34 AM : ArduRover V4.1.0 (60a7194b)
10/1/2021 9:35:34 AM : IMU2: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU1: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU0: fast sampling enabled 8.0kHz/2.0kHz
10/1/2021 9:35:34 AM : RCOut: PWM:1-12
10/1/2021 9:35:34 AM : CubeOrange 0046002F 3239510C 38363839
10/1/2021 9:35:34 AM : ChibiOS: 08877972
10/1/2021 9:35:34 AM : ArduRover V4.1.0 (60a7194b)
10/1/2021 9:35:34 AM : EKF3 IMU1 initialised
10/1/2021 9:35:34 AM : EKF3 IMU0 initialised
10/1/2021 9:35:33 AM : EKF3 IMU1 buffs IMU=14 OBS=5 OF=13 EN:13 dt=0.0200
10/1/2021 9:35:33 AM : EKF3 IMU0 buffs IMU=14 OBS=5 OF=13 EN:13 dt=0.0200
10/1/2021 9:35:33 AM : u-blox 1 HW: 00190000 SW: EXT CORE 1.00 (f10c36)10/1/2021 9:36:36 AM : Radio Failsafe Cleared
10/1/2021 9:36:36 AM : RCInput: decoding PPM
10/1/2021 9:35:59 AM : SmartRTL deactivated: bad position
10/1/2021 9:35:50 AM : GPS: u-blox 1 saving config
10/1/2021 9:35:44 AM : AHRS: EKF3 active
10/1/2021 9:35:44 AM : EKF3 IMU1 origin set
10/1/2021 9:35:44 AM : EKF3 IMU0 origin set
10/1/2021 9:35:36 AM : EKF3 IMU1 tilt alignment complete
10/1/2021 9:35:36 AM : EKF3 IMU0 tilt alignment complete
10/1/2021 9:35:34 AM : IMU2: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU1: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU0: fast sampling enabled 8.0kHz/2.0kHz
10/1/2021 9:35:34 AM : RCOut: PWM:1-12
10/1/2021 9:35:34 AM : CubeOrange 0046002F 3239510C 38363839
10/1/2021 9:35:34 AM : ChibiOS: 08877972
10/1/2021 9:35:34 AM : ArduRover V4.1.0 (60a7194b)
10/1/2021 9:35:34 AM : IMU2: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU1: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU0: fast sampling enabled 8.0kHz/2.0kHz
10/1/2021 9:35:34 AM : RCOut: PWM:1-12
10/1/2021 9:35:34 AM : CubeOrange 0046002F 3239510C 38363839
10/1/2021 9:35:34 AM : ChibiOS: 08877972
10/1/2021 9:35:34 AM : ArduRover V4.1.0 (60a7194b)
10/1/2021 9:35:34 AM : IMU2: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU1: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU0: fast sampling enabled 8.0kHz/2.0kHz
10/1/2021 9:35:34 AM : RCOut: PWM:1-12
10/1/2021 9:35:34 AM : CubeOrange 0046002F 3239510C 38363839
10/1/2021 9:35:34 AM : ChibiOS: 08877972
10/1/2021 9:35:34 AM : ArduRover V4.1.0 (60a7194b)
10/1/2021 9:35:34 AM : EKF3 IMU1 initialised
10/1/2021 9:35:34 AM : EKF3 IMU0 initialised
10/1/2021 9:35:33 AM : EKF3 IMU1 buffs IMU=14 OBS=5 OF=13 EN:13 dt=0.0200
10/1/2021 9:35:33 AM : EKF3 IMU0 buffs IMU=14 OBS=5 OF=13 EN:13 dt=0.0200
10/1/2021 9:35:33 AM : u-blox 1 HW: 00190000 SW: EXT CORE 1.00 (f10c36)10/1/2021 9:36:36 AM : Radio Failsafe Cleared
10/1/2021 9:36:36 AM : RCInput: decoding PPM
10/1/2021 9:35:59 AM : SmartRTL deactivated: bad position
10/1/2021 9:35:50 AM : GPS: u-blox 1 saving config
10/1/2021 9:35:44 AM : AHRS: EKF3 active
10/1/2021 9:35:44 AM : EKF3 IMU1 origin set
10/1/2021 9:35:44 AM : EKF3 IMU0 origin set
10/1/2021 9:35:36 AM : EKF3 IMU1 tilt alignment complete
10/1/2021 9:35:36 AM : EKF3 IMU0 tilt alignment complete
10/1/2021 9:35:34 AM : IMU2: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU1: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU0: fast sampling enabled 8.0kHz/2.0kHz
10/1/2021 9:35:34 AM : RCOut: PWM:1-12
10/1/2021 9:35:34 AM : CubeOrange 0046002F 3239510C 38363839
10/1/2021 9:35:34 AM : ChibiOS: 08877972
10/1/2021 9:35:34 AM : ArduRover V4.1.0 (60a7194b)
10/1/2021 9:35:34 AM : IMU2: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU1: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU0: fast sampling enabled 8.0kHz/2.0kHz
10/1/2021 9:35:34 AM : RCOut: PWM:1-12
10/1/2021 9:35:34 AM : CubeOrange 0046002F 3239510C 38363839
10/1/2021 9:35:34 AM : ChibiOS: 08877972
10/1/2021 9:35:34 AM : ArduRover V4.1.0 (60a7194b)
10/1/2021 9:35:34 AM : IMU2: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU1: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU0: fast sampling enabled 8.0kHz/2.0kHz
10/1/2021 9:35:34 AM : RCOut: PWM:1-12
10/1/2021 9:35:34 AM : CubeOrange 0046002F 3239510C 38363839
10/1/2021 9:35:34 AM : ChibiOS: 08877972
10/1/2021 9:35:34 AM : ArduRover V4.1.0 (60a7194b)
10/1/2021 9:35:34 AM : EKF3 IMU1 initialised
10/1/2021 9:35:34 AM : EKF3 IMU0 initialised
10/1/2021 9:35:33 AM : EKF3 IMU1 buffs IMU=14 OBS=5 OF=13 EN:13 dt=0.0200
10/1/2021 9:35:33 AM : EKF3 IMU0 buffs IMU=14 OBS=5 OF=13 EN:13 dt=0.0200
10/1/2021 9:35:33 AM : u-blox 1 HW: 00190000 SW: EXT CORE 1.00 (f10c36)10/1/2021 9:36:36 AM : Radio Failsafe Cleared
10/1/2021 9:36:36 AM : RCInput: decoding PPM
10/1/2021 9:35:59 AM : SmartRTL deactivated: bad position
10/1/2021 9:35:50 AM : GPS: u-blox 1 saving config
10/1/2021 9:35:44 AM : AHRS: EKF3 active
10/1/2021 9:35:44 AM : EKF3 IMU1 origin set
10/1/2021 9:35:44 AM : EKF3 IMU0 origin set
10/1/2021 9:35:36 AM : EKF3 IMU1 tilt alignment complete
10/1/2021 9:35:36 AM : EKF3 IMU0 tilt alignment complete
10/1/2021 9:35:34 AM : IMU2: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU1: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU0: fast sampling enabled 8.0kHz/2.0kHz
10/1/2021 9:35:34 AM : RCOut: PWM:1-12
10/1/2021 9:35:34 AM : CubeOrange 0046002F 3239510C 38363839
10/1/2021 9:35:34 AM : ChibiOS: 08877972
10/1/2021 9:35:34 AM : ArduRover V4.1.0 (60a7194b)
10/1/2021 9:35:34 AM : IMU2: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU1: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU0: fast sampling enabled 8.0kHz/2.0kHz
10/1/2021 9:35:34 AM : RCOut: PWM:1-12
10/1/2021 9:35:34 AM : CubeOrange 0046002F 3239510C 38363839
10/1/2021 9:35:34 AM : ChibiOS: 08877972
10/1/2021 9:35:34 AM : ArduRover V4.1.0 (60a7194b)
10/1/2021 9:35:34 AM : IMU2: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU1: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU0: fast sampling enabled 8.0kHz/2.0kHz
10/1/2021 9:35:34 AM : RCOut: PWM:1-12
10/1/2021 9:35:34 AM : CubeOrange 0046002F 3239510C 38363839
10/1/2021 9:35:34 AM : ChibiOS: 08877972
10/1/2021 9:35:34 AM : ArduRover V4.1.0 (60a7194b)
10/1/2021 9:35:34 AM : EKF3 IMU1 initialised
10/1/2021 9:35:34 AM : EKF3 IMU0 initialised
10/1/2021 9:35:33 AM : EKF3 IMU1 buffs IMU=14 OBS=5 OF=13 EN:13 dt=0.0200
10/1/2021 9:35:33 AM : EKF3 IMU0 buffs IMU=14 OBS=5 OF=13 EN:13 dt=0.0200
10/1/2021 9:35:33 AM : u-blox 1 HW: 00190000 SW: EXT CORE 1.00 (f10c36)10/1/2021 9:36:36 AM : Radio Failsafe Cleared
10/1/2021 9:36:36 AM : RCInput: decoding PPM
10/1/2021 9:35:59 AM : SmartRTL deactivated: bad position
10/1/2021 9:35:50 AM : GPS: u-blox 1 saving config
10/1/2021 9:35:44 AM : AHRS: EKF3 active
10/1/2021 9:35:44 AM : EKF3 IMU1 origin set
10/1/2021 9:35:44 AM : EKF3 IMU0 origin set
10/1/2021 9:35:36 AM : EKF3 IMU1 tilt alignment complete
10/1/2021 9:35:36 AM : EKF3 IMU0 tilt alignment complete
10/1/2021 9:35:34 AM : IMU2: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU1: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU0: fast sampling enabled 8.0kHz/2.0kHz
10/1/2021 9:35:34 AM : RCOut: PWM:1-12
10/1/2021 9:35:34 AM : CubeOrange 0046002F 3239510C 38363839
10/1/2021 9:35:34 AM : ChibiOS: 08877972
10/1/2021 9:35:34 AM : ArduRover V4.1.0 (60a7194b)
10/1/2021 9:35:34 AM : IMU2: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU1: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU0: fast sampling enabled 8.0kHz/2.0kHz
10/1/2021 9:35:34 AM : RCOut: PWM:1-12
10/1/2021 9:35:34 AM : CubeOrange 0046002F 3239510C 38363839
10/1/2021 9:35:34 AM : ChibiOS: 08877972
10/1/2021 9:35:34 AM : ArduRover V4.1.0 (60a7194b)
10/1/2021 9:35:34 AM : IMU2: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU1: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU0: fast sampling enabled 8.0kHz/2.0kHz
10/1/2021 9:35:34 AM : RCOut: PWM:1-12
10/1/2021 9:35:34 AM : CubeOrange 0046002F 3239510C 38363839
10/1/2021 9:35:34 AM : ChibiOS: 08877972
10/1/2021 9:35:34 AM : ArduRover V4.1.0 (60a7194b)
10/1/2021 9:35:34 AM : EKF3 IMU1 initialised
10/1/2021 9:35:34 AM : EKF3 IMU0 initialised
10/1/2021 9:35:33 AM : EKF3 IMU1 buffs IMU=14 OBS=5 OF=13 EN:13 dt=0.0200
10/1/2021 9:35:33 AM : EKF3 IMU0 buffs IMU=14 OBS=5 OF=13 EN:13 dt=0.0200
10/1/2021 9:35:33 AM : u-blox 1 HW: 00190000 SW: EXT CORE 1.00 (f10c36)10/1/2021 9:36:36 AM : Radio Failsafe Cleared
10/1/2021 9:36:36 AM : RCInput: decoding PPM
10/1/2021 9:35:59 AM : SmartRTL deactivated: bad position
10/1/2021 9:35:50 AM : GPS: u-blox 1 saving config
10/1/2021 9:35:44 AM : AHRS: EKF3 active
10/1/2021 9:35:44 AM : EKF3 IMU1 origin set
10/1/2021 9:35:44 AM : EKF3 IMU0 origin set
10/1/2021 9:35:36 AM : EKF3 IMU1 tilt alignment complete
10/1/2021 9:35:36 AM : EKF3 IMU0 tilt alignment complete
10/1/2021 9:35:34 AM : IMU2: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU1: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU0: fast sampling enabled 8.0kHz/2.0kHz
10/1/2021 9:35:34 AM : RCOut: PWM:1-12
10/1/2021 9:35:34 AM : CubeOrange 0046002F 3239510C 38363839
10/1/2021 9:35:34 AM : ChibiOS: 08877972
10/1/2021 9:35:34 AM : ArduRover V4.1.0 (60a7194b)
10/1/2021 9:35:34 AM : IMU2: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU1: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU0: fast sampling enabled 8.0kHz/2.0kHz
10/1/2021 9:35:34 AM : RCOut: PWM:1-12
10/1/2021 9:35:34 AM : CubeOrange 0046002F 3239510C 38363839
10/1/2021 9:35:34 AM : ChibiOS: 08877972
10/1/2021 9:35:34 AM : ArduRover V4.1.0 (60a7194b)
10/1/2021 9:35:34 AM : IMU2: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU1: fast sampling enabled 9.0kHz/2.3kHz
10/1/2021 9:35:34 AM : IMU0: fast sampling enabled 8.0kHz/2.0kHz
10/1/2021 9:35:34 AM : RCOut: PWM:1-12
10/1/2021 9:35:34 AM : CubeOrange 0046002F 3239510C 38363839
10/1/2021 9:35:34 AM : ChibiOS: 08877972
10/1/2021 9:35:34 AM : ArduRover V4.1.0 (60a7194b)
10/1/2021 9:35:34 AM : EKF3 IMU1 initialised
10/1/2021 9:35:34 AM : EKF3 IMU0 initialised
10/1/2021 9:35:33 AM : EKF3 IMU1 buffs IMU=14 OBS=5 OF=13 EN:13 dt=0.0200
10/1/2021 9:35:33 AM : EKF3 IMU0 buffs IMU=14 OBS=5 OF=13 EN:13 dt=0.0200
10/1/2021 9:35:33 AM : u-blox 1 HW: 00190000 SW: EXT CORE 1.00 (f10c36)

Do you have your RC transmitter powered on? You are encountering a failsafe that will not permit arming without a radio transmitter connected.

yes ,notice it cleared on the last line of message

Set the parameter LOG_DISARMED=1.

Reboot the Cube and attempt to arm like you have been.

Power off and post the most recent .bin log from the SD card.

did first two steps but don’t know how to post .bin log.

There’s a micro SD card in the Cube. Remove it and plug it into an SD reader. Look in the APM/logs directory for the highest numbered (most recent) *.bin file. Post that here.

I think I can do this but file too big .I have to load to cloud and link ,which I haven<t done ,I;ll figure it out but may take awhilehttps://drive.google.com/file/d/1D5MWKCDgJ_EYR-I_ggTt2s6JVjSDicEW/view?usp=sharinghttps://drive.google.com/file/d/1D5MWKCDgJ_EYR-I_ggTt2s6JVjSDicEW/view?usp=sharinghttps://drive.google.com/file/d/1D5MWKCDgJ_EYR-I_ggTt2s6JVjSDicEW/view?usp=sharinghttps://drive.google.com/file/d/1D5MWKCDgJ_EYR-I_ggTt2s6JVjSDicEW/view?usp=sharinghttps://drive.google.com/file/d/1D5MWKCDgJ_EYR-I_ggTt2s6JVjSDicEW/view?usp=sharingHope it worked

1 Like

You need to set the sharing permissions to “anyone with the link.”

Also, the screenshot of the link was a little hard to type :slight_smile: