ZED-F9P GPS Integration to Pixhawk

ArduRover ArduBoat
1

I have a project that is utilizing the following pixhawk flight controller and GPS system which has been adapted to control the thrusters on a small boat:

Amazon.com: Pixhawk PX4 PIX 2.4.8 Flight Controller NEO-M8N GPS 3DR 915Mhz Radio Telemetry Set OSD Module PPM Module I2C Splitter Expand Module Power Module for FPV Quadcopter Multirotor

I have a separate ZED-F9P (linked below) which has been configured as a rover and is being fed RTK correction data.

SparkFun GPS-RTK-SMA Breakout - ZED-F9P (Qwiic)

How I would go about connecting this new GPS into the pixhawk as a replacement GPS source for increased accuracy?

2

Reset the F9P to default and connect it to a serial port on the autopilot. Use GPS_TYPE,1. ArduPilot will autoconfigure it, and Mission Planner can forward correction data.

If it has its own radio on the XBee headers, and you are using a standalone system to send corrections, set GPS_DRV_OPTIONS,1.

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