How to integration Reach and Pixhawk in PX4 firemware?

Reach Module / M+ / M2 Hardware integration
1

HI
I’m trying to integrate reach RTK with Pixhawk in PX4 firmware

I had referenced reach “APM integration” page already,but still had no idea in “Configuring radio” part.
https://docs.emlid.com/reach/apm-integration/#apm-integration

Dose reach RTK support PX4 ?ERB protocal?
What should I do?

Thanks

2

@jojot.tw Hi! There is no ERB support in PX4, but you can still use it with Reach by using NMEA output. Sorry, we have no instructions for PX4 in the moment.

3

I think PX4 stack doesn’t support NMEA format, but RTCM. Do you have the option to send in the data in this format?

4

RTCM is a format for corrections, not for coordinates.
So for autopilot software to accept coordinates from Reach it has to support ERB or NMEA.
As for PX4 support for RTCM - it probably means that PX4 can accept RTCM from some source to transfer them to a GPS unit.

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