I have MavProxy running on a Raspberry Pi 3 as a companion computer to my ardupilot flight controller (Mrobotics Rev2). My Raspberry Pi 3 also has an internet connection. I want to use the Ntrip module to enable RTK via internet for my rover platform and not needing a local base station. I noticed rtk2go.com has free Ntrip Client connectivity so I wanted to connect to there. How are you able to get the Ntrip module to work in mavproxy? It’s been hard to find documentation or an example to go on. I loaded the module via command line module load ntrip but I am not sure what to do from there such as adding/pointing to the Ntrip service.
I am currently trying to use the normal mavproxy ntrip module with the following settings HOLD> caster NTRIP.itsware.net logfile None mountpoint DETROIT_RTCM3-GG password test port 2101 username test
When I start the Ntrip Module I get the following when I type ntrip status HOLD> ntrip status HOLD> 1004: 3 (len 186) 1008: 1 (len 26) 1012: 3 (len 128) 1033: 1 (len 57) 1230: 1 (len 18) ntrip: 9 packets, 67.0 bytes/sec last 0.3s ago framesize 415 ntrip status HOLD> 1004: 10 (len 186) 1006: 2 (len 27) 1008: 2 (len 26) 1012: 10 (len 128) 1033: 2 (len 57) 1230: 2 (len 18) ntrip: 28 packets, 145.6 bytes/sec last 0.1s ago framesize 442 ntrip status HOLD> 1004: 20 (len 186) 1006: 4 (len 27) 1008: 4 (len 26) 1012: 20 (len 128) 1033: 4 (len 57) 1230: 4 (len 18) ntrip: 56 packets, 263.1 bytes/sec last 0.6s ago framesize 442
What do these statuses mean and how do I know if my gps is now in RTK? If I keep checking Ntrip status the packets keep increasing (which I assume is good).
In QGroundControl the GPS Status only says 3D lock not rtk. Also the NTRIP public caster that I am connecting to is about 400 miles away. It is the closest, not sure if that is why it is not going into rtk mode.
@Christopher_Milner (tagging you in this as I have seen you have had success with the ntrip module in other posts) Thanks!
The status info gives you the the count of each RTCM message type received. If you wan to know what each one is you can look it up here: https://www.use-snip.com/kb/knowledge-base/rtcm-3-message-list/
I have high end, high gain antennas and I can get an rtk fix from base stations up to 100 miles away. I do notice an increase time to fix and less accuracy with distance. RTK requires that the base station and rover have visibility of the same satellites in order to calculate a solution. I do not think that 400 miles is useful baseline distance.
I am using this gps module https://store.mrobotics.io/ProductDetails.asp?ProductCode=mro-gps003-mr
I found a closer Ntrip base Station that is about 60mi away. However the GPS still is not going into a rtk fix mode. The best that I got was 3d DGPS lock. However, I can get a 3d DGPS lock without the correction data streaming from Mavproxy. Is there a way to check to see if the data is being sent to the GPS unit?
@brove I’m using ZED-F9Ps from sparkfun and ardusimple. I’m running ntrip and mavproxy on a companion computer (Raspberry Pi) that’s on my rover and directly connected to the autopilot. The companion computer is connected to the internet via a 4g/LTE USB modem. Connecting ntrip to the snip server at www.rtk2go.com. I set up my own base station that pushes corrections to the rtk2go server. It’s working very reliably. Once you upgrade to a GPS that supports RTK, let me know if you still have questions.
I finally got it working. Thank you. Do you happen to know how the RTCM corrections are being streamed to the flight controller? Meaning, are the corrections just passing through the flight controller and straight into the GPS or is the flight controller altering/formatting the data in some way before sending to the GPS?
Would you happen to know how to inject the RTCM messages directly into the RTK GPS? I posted more details on StackOverflow.
I am using the ntrip.py and rtcm3.py files from MAVProxy. I can run the ntrip.py file fine on my desktop and on a Raspberry PI and see the data packets coming in but I am not sure how to forward that data (or where in the script) to the GPS that is hooked up via serial port on the RPI
In my configuration, for my (fixed, stationary) base, I have an RPi connected to the Sparkfun ZED-F9P (ZED-F9P’s UART connected to the Pi’s USB port with a USB-to-serial converter). Then, I run str2str on the RPi and it collects the RTCM messages and forwards them to rtk2go’s ntrip caster (stream name is SandySpringMD in the table here http://www.rtk2go.com:2101/) - str2str has native ntrip support. Then on my rovers I use mavproxy’s ntrip module (ntrip client) to connect to the rtkgo server to source the RTCM data, and forward the data to the Ardurover software.
Excuse me and I wanted to ask a related topic… there is a part of the architecture that is not clear to me… I leave you my configuration, I have a rover with a pixhawk 6c, where I have connected a GPS RTK from the same manufacturer through port GPS1 In the telemetry port 1 I have a telemetry module connected to be able to connect from the laptop, in turn in the telemetry port 2 it is connected to a BeagleBone Black (BBB) to have a MapLink connection and this board connected by 4G to the internet, So from the internet I can send you missions and other things. The RTK data injection module, where I put them on the BBB board running as a service and send it to the Telemtria 2 connection or I have to put another exclusive connection by Telemtria 3 to the Pixhawk. I have noticed that using the str2str procedure blocks the connection that goes from the BBB to the pixhawk and I cannot send more commands to it. Or do I have to use the MAVproxy solution and ntrip service for the connection between pixhawk (telem2) and BBB, can I also send other mavlink2 commands through this same port?
Or the best solution is to have telem2 port for mavlink2 commands, and telem3 also connected to BBB for MAVProxy commands for NTRIP?
Let’s see if you can give me a cable or give me light !!