I have a a Pixhawk 4 (FMUv3) board. I want to set the yaw input from GPS.
Method 1
I can use a single GPS with two antennas, to feed in the GPS 1 channel.
For this, i will have to - following this discussion - set:
COMPASS_USE=0
COMPASS_USE2=0
COMPASS_USE3=0
EK3_ENABLE=1
GPS_TYPE=16
GPS_HDG_ENABLE=1
EK3_MAG_CAL=5
I have compiled ardurover from the priseborough branch.. But the GPS_TYPE only shows possible option up to 15, and i don’t find the GPS_HDG_ENABLE param at all.
My Question now is :
- What do i do to get these parameters?
Method 2
I could use the GPS-s and two antennas. My question now is -
- Can pixhawk use two separate GPS in a moving base configuration?
- How to set that up and calibrate it?
- How to set up the parameters in pixhawk?
Additionally
I have a lidar, which is telling me where a wall is, and the angle of the wall w.r.t. the vehicle principle axis.
How can I use this information to steer the rover?