Septentrio GNSS support for ArduRover

ArduRover
1

I’m looking into GPS systems that use dual antenna setups for heading data. It’s for use on a USV to avoid potential interference issues with magnetometers.

I’m currently between Blicube and Septentrio as the top options, but I’m a bit underinformed on Ardupilot support for Septentrio. Their documentation specifies to download a custom firmware version, but is this necessary? Blicube looks like a very straightforward setup, but if there’s anything I should know going that direction I would appreciate hearing it.
Also, if anyone has a setup using one of Septentrio’s AsteRx series and/or the Mosaic series I’d love to know how you put it together and got it configured.

Cheers,
Ronan

2

Septentrio has native support in AP, GPS type should be set to 10 (SBF)
https://ardupilot.org/rover/docs/parameters-Rover-stable-V4.1.4.html#gps-type-1st-gps-type

3

Perfect. Thanks for the info.
So then to setup heading would be just setting the Yaw Source parameter?
https://ardupilot.org/rover/docs/parameters.html#ek3-src1-yaw

4

See here:

ArduPilot simpleRTK3B Heading configuration - ArduSimple

The SimpleRTK3B+Heading board, while a bit expensive, is very easy to set up and works well.

5

Pricey for sure, but the mosaic-H is a pretty sweet module.
Thanks for the resource!