NeedAltEstimate when EK3_SRC1_YAW=GPS with H-RTK Mosaic-H (Dual Antenna Heading)

ArduCopter Copter 4.5
1

Hello,

I need help with configuring my flight controller Matek H743 Slim V3 and the H-RTK Mosaic-H (Dual Antenna Heading) system from Holybro. I am using the latest ArduPilot firmware 4.6 Dev and have followed all the setup recommendations provided on the Holybro documentation site, specifically the “Use as a Rover (Aircraft) Unit” section.

After applying the recommended settings, I encounter an error when attempting to arm the copter in any mode other than Stabilize:

Arm: Need Alt Estimate

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I have experimented with different settings and found that this error occurs when the parameter EK3_SRC1_YAW is set to 2 (GPS), as suggested in the instructions. However, if I change the parameter EK3_SRC1_YAW to Compass, the error goes away.

My question is: how can I resolve the “Need Alt Estimate” error when the recommended parameter EK3_SRC1_YAW is set to 2 (GPS)? Are there any additional settings or configurations that I might have missed?

I would appreciate any help or advice.

Thank you!

2

Hello,

I have exactly the same problem.
I originally upgraded my drone to V5+ with a NEO 3 pro antenna connected to CAN and changed to a C-RTK 2HP, still connected to CAN.
On the old configuration everything went perfectly and since connecting the RTK following the CUAV installation instructions, I get a ‘need position estimate’ error if I’m in EK3_SRC1_YAW=2 or 3, but if I switch to EK3_SRC1_YAW=1 EK3_SRC2_YAW=2 or 3 the error is no longer displayed, but the drone is not clean in flight, which I think is linked to the fact that it only works on the internal components of the V5+.

My last BIN file:
https://www.dropbox.com/scl/fi/549y12ts5mzjwcvyufwt3/51-23-07-2024-14-33-02.bin?rlkey=gvqpph7ns3nx18pkryscthvql&st=q0mqxvti&dl=0

Have you found a solution to this problem?

Thanks in advance and have a nice day.

3

do you guys solved problem ? Because I have same

4

Just curious you are trying to arm outside correct?

You will need to post up the param file before anyone can really help.

5

I tried the same thing outside.
The problem is still not solved.