I substitute double antenna of RTK for compass, it can provide not only precise position, but also heading information. it called moving base RTK
in this video using following setup, and run repeat waypotins auto mission.
- Ardupilot AC4.2 + Pixhawk Cube Orange
- GNSS Module: GPS YAW + RTK (all in one moudle)
- Disable all the compass on board
Let’s see the flight!!!
How did you configure these motors? Does Arducopter allow such a configuration? What exactly are your motor and propeller rotation directions?
rotation directions same like
need to swap the motor(ESC) wires change motor direction
image reference:How to Change Motor Direction in an FPV Drone? - Oscar Liang
how about the accuracy of the RTK
Is it some kind of advertising?
1cm at horizontal
2cm at vertical