RTK Dropout Help

ArduRover
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I’m on the home stretch of GPS Yaw. Everything works well, but the RTK is dropping out far too often to be acceptable.
I have 3 ardusimple f9p modules(Two Mobile, One Base), and a Cube Orange Pixhawk. The two rover GPS’s are plugged into the pixhawk and configured in MP as 17&18 moving baseline.
The Base station is plugged into my computer via usb as an injected RTK source in MP. I know there is a way to configure the f9p’s to handle their own stream of RTK and calculate their own heading too, but MP has added this plug and play capability if I understand correctly, so I’ve followed that method for my own ease.
My first question is, where are the calculations happening? Is MP configuring the f9p’s for me and passing along the data to each board accordingly, so that the f9p boards calculate RTK corrected Pos’s and heading independently of the pix? (The Pixhawk is simply acting as medium of data transfer)?
Or do the f9p’s have no idea there are multiple boards plugged into the pixhawk, therefore they have no com between each other, only to the pix? Meaning they ONLY send 3d pos, and then the Pixhawk or MP does all the RTK corrections and heading calculation?
Secondly, If the RTK is dropping out quite often, what is the source of issue? Is it the general gps health (I don’t get any “unhealthy gps” errors, and I have both receivers elevated and shielded) or RTK failing to correct positions? Per the above question, my guess is that there is no com between any gps board individually, so all calculation happens within the pixhawk or MP. So, is that too much data to pass through one telemetry signal, and therefore dropping RTK connections frequently? Would it be better to use a radio adapter to pass rtk from my base to the moving base, and let MP think the moving base is not RTK corrected(even though it is)? Our guess is that there’s just too much happening in the pix, but we aren’t sure if that’s the case

I’m doubtful my gps health is the issue, and without knowing the deep ins and outs of MP, I have no clue where calculations and RTK happen with current “plug and play” config of gps yaw + RTK. Meaning, I don’t know what is effecting my RTK dropout.
Any advice or clarity would be highly appreciated! I’m really hoping I’m not overlooking anything!

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I just went through this with another user and don’t care to repeat myself (I seem to have a habit of that on this subject!).

Read the past month’s worth of posts in this topic. If that doesn’t clear it up for you, read again. And if it still doesn’t make sense, report back with questions that are a bit better informed.

1 Like
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Post a log file (.bin ). Happy to pass on learnings on the topic. Read the last few posts in my build. Some of the labeling of things made it difficult for me to keep sorted.

Cd…

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Frankly, I’d rather not review any logs until there’s a better fundamental understanding and a user review of the settings recommended by the docs and further explained in the linked topic.