Hello!
Been trying to achieve GPS yawwith an UM982 from CUAV (cuav 2HP). GPS position was easy to achieve, RTK fix with no issues, but when it comes to obtain the direction I am not able to do it.
Of course (tryed to) followed the guide to install and configure the receiver.
When connecting the GPS through USB to UPrecise windows app, the settings apear OK, and phisically switching the antennas still shows RTK fix.
In the photos you can see the overview of the drone setupp, and also a screenshot of UPrecise app, showing Heading (UNIHEADINGA).
Here you can have a look at a log where i walked on our parking lot, trying to mantain heading straight to the moving trayectory. Yaw stays very consistent (may be due to the giros doing their work properly) BUT with a big offset around -95º.
Im absolutely stuck, been banging my head for weeks, please hlp.
OK, after updating the GPS receiver it seems that its a defective unit. Now it shows in UPrecise app more data, and the Slave antenna seems unresponsive. Swapped the antennas and still no data from the Slave antenna.
Thanks for your response!
I am not interested at all in obtaining slave data in the UPrecise app, was just throubleshooting trying to find causes of my main problem; drone not obtaining GPS_yaw data, but thanks for the tip about the commands.
BTW, the GPS has been properly tested outdoors as can be seen in the logs.
Still wondering where is the problem, the settings are configured following the guide, but still not able to receive direction data, can anybody with experience in this type of GPS have a look? what am I missing?
One is you need to have the correct messages enabled in the GPS.
Two, and this is very subtle, is you have to have the spacing set correctly for the gps_mb_ofs_* parameters. It seems if ardupilot calcs something different based on the distance given from the gps it just won’t work without warning. This took me a long time to figure out - admittedly from reading GPS for Yaw (aka Moving Baseline) — Rover documentation
“that the reported distance between the two modules matches the distance given by the GPS position parameters within 20%”
In CUAV’s documentation, the UM982 output statements are not configured manually; instead, the flight controller is used to automatically configure the UM982.
Normally, I manually configure the UM982 output statements according to Holybro’s documentation.
