RTK GPS option InertialSense

ArduRover ArduBoat
1

Hello All,

I would like to use an InertialSense RUG-3-IMX-5-DUAL (IMU Module - Mini Calibrated Inertial Measurement Unit | Inertial Sense) to integrate into an autonomous boat running ardurover (with a blue robotics navigator flight controller)

If I connect this to a serial port on the raspberry pi and output NMEA sentences, will the autopilot recognize the NMEA streams even though its not on the list of GPS’s that work? (GPS/Compass (landing page) — Copter documentation)

In particular I would like GPS to come in obviously, and use the dual compasses for GPS Yaw.

Even better would be if I can get AHRS data coming in too, but that would be an added bonus.

2

Yes, you should get GPS data

It doesn’t look like ArduPilot supports GPS Yaw for that module.

Then it’ll require a custom External AHRS driver (External AHRS Systems — Copter documentation)

3

Hi,

Thanks for the info.

Writing a custom AHRS driver is beyond what I would like to do.

Is there not a NMEA string that sends out GPS yaw that ardupilot can read?

4

Yes, the HDT and THS NMEA strings. The module you linked doesn’t appear to output those strings, though.

5

Did you find a list of supported NMEA sentences? I didn’t see one in any of the literature. It’d be almost shocking if it didn’t output one with heading in the message based on the cost and specs.

6

Hi,

Thanks for all the replies. I have found this on the user manual:

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I’ll send an email out, but so far, it doesn’t look like it does output any heading info!

7

Does the heading field in GPRMC sentences use GPS yaw?

Cheers

8

RMC should provide true course based on GPS track while moving.

It looks like the proprietary PINS1 and PINS2 sentences provide fused data which could be used for heading/yaw. You’d need a custom driver to use it.