November 7, 2016, 10:00am
Hi,I want to integrate Reach RTK and Pixhawk in APM firmware
then I read APM integration doc.
ReachView RTK mode showed float/fix,but drone sometimes drift.
How to confirm that Pixhawk and Reach RTK integrate successfully?
Mission Planner gpsstatus2 didn’t report any message,such as gps satellites.
ReachView version : 0.4.9
Reach image version: v1.2
there is my configuration below.
I used Wifi to connect rover and baseStation,so that I could look RTK status at ReachView and plot in rtkplot.
Has any suggestion?
So mission planner gpsstatus2 is always 0? It should be 4/5 for float/fix.
November 7, 2016, 1:11pm
yes, gpsstatus2 always 0. So it means Reach RTK does not inject to Pixhawk?
I have set GPS_TYPE2、GPS_AUTO_SWITCH、GPS_INJECT=1,and SERIAL4_BAUD=38
Which firmware do you have on your Pixhawk?
GPS_INJECT is for RTCM3 injection through mavlink. So it is Pixhawk that does injection, not Reach.
November 7, 2016, 1:56pm
Thank you for your reply
Firmware :APM version3.3.3 on Pixhawk
You need 3.4 or 3.3.3 with ERB support (available in our docs)
HI , I have downloaded the firmware you provided , but i am not sure which one is correct , can you tell me whats the meaning of heli , hexa , octa ,single, etc .
sorry ,i am a newbee in this field .
appreciate your help!
and also , i visited apm website , found that the version of firmware is 3.4.5 .
is 3.4.5 support ERB??
March 13, 2017, 10:00am
from copter 3.4 erb protocol is supported on all versions;
heli hexa etc is the meaning of the frame type; most people use quad-frames, which means 4 motors; take a look