I’m currently using a moving baseline configuration (2x F9P’s from HolyBro with the ‘Base’ antenna). It’s working well so far. I’m now chasing increased accuracy, preferably using RTK correction from a Fixed Base.
My trouble is how to impliment this. I am constrained as my rover is planned to be an autonomous system and will operate without supervision (or a mission planner connection) at times (in an agricultural environment). Therefore I don’t believe that injecting either NTRIP or RTK correction via mission planner is a feasible solution in my use case (if I’ve overlooked something please let me know). Additionally, to have setup the gps moving baseline configuration I have a cable connection both of my F9P modules on their UART2 ports. Leaving me without a port on the F9P’s to connect a telemetry radio as described in method 3 here.
Under the GPS for Yaw page (link, under RTK Correction) it states that “RTCM correction data it receives over MAVLink from a GCS or telemetry radio (from a fixed baseline RTK base station) to these GPSes”. Does this mean I can have a telmetry radio on my fixed base (UART2 of F9P) and on my FC (Pixhawk 6X, TELEM1) and the correction messages will be passed to the GPSes? If so, will I still be able to use the same radio to connect the rover to mission planner periodically, or will there be clashes?