.I am using arducopter firmware 3.6.11, most updated ardupilot version
.I have the GPS module (K726 from sinoGNSS) output NMEA which I have already checked with terminal software via UART, at 10Hz. When checking the HDT message, it returns exactly the same heading with respect to the true North,
. GNSS is fused between GLONASS, GPS, BD2, GALILEO, SBAS. This tasked is handled by the module, which return numbers of satellites always > 10. I think the heading from HDT message is reliable enough.
. About the yaw situation, I am looking for a way to export the dataflash for further discussion. At the moment, when I turn off the COMPASS, restart the Cube, it returns yaw 0 degree and it keeps drifting because of using only gyro and accelerometer. To my understand, if everything works well, it must be the angle from HDT message, right?
Looking at the Copter-3.6 branch in Github, it seems that yaw from GPS is not supported. You will have to use the latest code from the master branch if you want to test this functionality. Please be aware that this code is the bleeding edge of development and that there are untested changes in this version. You use it at your own risk.
No, there are daily builds of the code here: http://firmware.ardupilot.org/ You can download the most current version of copter for your hardware and upload it. Mission Planner also allows you to select āBetaā versions of the firmware to upload too.
Hi, I have tried it with 4.00 and it works pretty well. However, the NMEA message are read from GPS2 port which I change to GPS1 later and it does not work anymore (with the same configuration). Any ideas?
I am glad that you got it working. There is not a lot of information in your post that might shed light on what your latest issue is. You seem to be saying that you got heading information from your GPS attached to the GPS2 port but not when attached to the GPS1 port? Once again, a dataflash log would likely provide valuable informationā¦ Do you have more than one GPS module attached? Is your GPS module/s correctly detected at boot? Have you checked your GPS_XXX2 parameters against your GPS_XXX parameters? Do you have GPS auto switch enabled?
Sorry that I am stuck at ādataflashā at the moment because I have no idea to provide it to you, I am kindly new here.
At the beginning, there is just one GPS in Port GPS2 (Serial 4), now I am just simply switch the port to GPS1 (Serial 3) instead of GPS2 with the same steps I have done with GPS2 (GPS_TYPE2, SERIAL3_BAUD, SERIAL3_PROTOCOL, GPS_AUTO_SWITCH). Long, lat can not be read in MP and MP can not detect the GPS module at booting section. Is it somehow the GPS1 just accepts UBLOX?
@jimovonz Iām using ardurover 4. I have an ardusimple RTK2B+RTK2BLite setup (like this https://www.ardusimple.com/simplertk2heading-hookup-guide/) configured to send UBX-NAV-PVT and UBX-NAV-RELPOSNED messages (and no NMEA messages) to my pixhawk4. Ardurover seems to be receiving/interpreting the PVT message because I see the correct lat/lon on mission planner.
First question: How should I confirm that Ardurover is receiving/interpreting the RELPOSNED message? On my mission planner status window there isnāt a gps-yaw displayed anywhere (like there is lat2, lng2, etc.). Where can I view the GPS yaw according to ardurover?
Next, should I have to change any parameters in ardurover/ardupilot to tell the system to use heading from the GPS (in the RELPOSNED message) instead of heading from the compass? In fact I want to disable magnetic compasses entirely (my rover has too much EMF interference) and just rely on GPS heading. To do that should I set COMPASS_USE to Disabled? Should I change any other parameter?
Iāve just received a similar ArduSimple setup. The dual F9P unit for my rover and another as a base station. Was just trying to configure today but didnāt get there. Hoping you might offer a suggestion or two?
Iāve used theāpixhawkā connector on each of the Rover units to connect to GPS 1&2 on a Cube. Latest Rover version. Both GapS units are showing a fix but nothing showing in Mission Planner. No GPS fix. I did find a list of parameters to change by @Andrew_Tridgell. Still no luck. Iād have thought ArduSimple wouldāve flashed the units for use in that config. Any thoughts?
My understanding is that ardusimple doesnāt configure units for use with audupilot āoff the shelfā and that it will take some messing around with the configurations of the F9P units. This the most recent documentation I am aware of: https://github.com/ArduPilot/ardupilot/pull/12844
I havenāt gotten this working, please keep us posted if you do!
That is correct. When I purchased my units they were not configured. There was an additional cost for flashing the units that I did not pay for at the time. I did email ardusimple and they eventually gave me the correct configs to flash and I avoided the extra cost. By time I got a response from ardusimple (a few days) I did manage to figure out how to get it working on my own. I purchased the RTK with Heading kit so it was important to get the serial connection config between the two units correct. It was also important to make sure the serial ports were getting the correct messages. I spent a few hours in the configuration tool slowly learning what needed to be done.
Unfortunately, I put away all the kit for winter otherwise I would just grab the config I have for you. As I remember, it was also important that I have the latest ardupilot with F9P support and that it was in auto detect mode.
@BenBBB are you planning on using ardupilot to do the baseline calculations or are you going to hook the two F9P boards together and have it do the heading calculation?
Thanks @Vincent_Miceli,
So, off to U-centre. But getting in touch with ArduSimple sounds worth trying too.
Yes, Iād like them configured to talk to each other as one gps unit is mounted on the other. Iām sure I can get gps fix and the heading (relposned) from the one output and send it to the Cube.
Iāll have a look and see what I can figure out.
Ta, Ben
@Vincent_Miceli I guess I didnāt realize that you had gotten this working. I have a few questions:
Did you use 2 autopilot serial ports (i.e. TELEM1 and TELEM2 on Pixhawk4), one connected to each of the 2 GPSs on the Ardusimple? As I understand it, one of the ardusimple GPSs reports the RTK position (back to the autopilot), while the other ardusimple GPS reports the UBX RELPOSNED message.
Did you provide RTK corrections using mission planner to the pixhawk, when then forwarded those corrections on to the Ardusimple GPSs?
In the configuration I had, two gps units on my rover where connected directly via their serial ports. One acted as base (for heading) and the other as rover. The one acting as rover was then connected via its other serial port to the GPS serial of the pixhawk and was passing RELPOSNED messages as well as other positioning messages.
I might have time this weekend to pull out the project and give more technical details about the config.
