Hello people, I am new here and using reach RTK GPS for the first time. For my project I am trying to recieve correction data from the RTK GPS over USB to navigate a ground robot. For the ground control station I am using APM Planner 2.0.
The setup-
I have a RPi 3 and to it I have connected a Navio 2. I have the GNSS antenna connected to the Navio 2. I have the RTK GPS that I have connected to the RPi’s USB. I have the ardurover set up for receiving the correction data from the usb by choosing TELEM2="-E /dev/ttyACMO"
Unfortunately I am still not seeing the second GPS data on mission planner.
I would appreciate any and every help.
1 Like
Hi @akhan1,
Please post here the content of your /etc/default/ardurover file and the output of following commands:
systemctl status arduroverdmesg | grep -i tty
Is the last symbol in ACM0 entered as zero?
Hi, first of all, thank you so much for getting back to me so soon. I have attached the two command outputs and also the file.
pi@navio:~ $ systemctl status ardurover
● ardurover.service - ArduPilot for Linux
Loaded: loaded (/etc/systemd/system/ardurover.service; enabled; vendor preset: enabled)
Active: active (running) since Thu 2019-05-30 21:23:28 UTC; 18h ago
Docs: https://docs.emlid.com/navio2/navio-ardupilot/installation-and-running/#autostarting-ardupilot-on-boot
Main PID: 364 (sh)
CGroup: /system.slice/ardurover.service
├─364 /bin/sh -c /usr/bin/ardurover $TELEM1 $TELEM2 $TELEM3
└─369 /usr/bin/ardurover -A udp:192.168.1.110:14550 -E /dev/ttyACM0 -C /dev/ttyAMA0
May 31 16:00:30 navio sh[364]: $PGCMD,16,0,0,0,0,06A
May 31 16:00:30 navio sh[364]: $PSRF100,0,38400,8,1,03C
May 31 16:00:31 navio sh[364]: $PGCMD,16,0,0,0,0,06A
May 31 16:00:31 navio sh[364]: $PSRF100,0,38400,8,1,03C
May 31 16:00:32 navio sh[364]: $PGCMD,16,0,0,0,0,06A
May 31 16:00:32 navio sh[364]: $PSRF100,0,38400,8,1,03C
May 31 16:00:33 navio sh[364]: $PGCMD,16,0,0,0,0,06A
May 31 16:00:33 navio sh[364]: $PSRF100,0,38400,8,1,03C
May 31 16:00:35 navio sh[364]: $PGCMD,16,0,0,0,0,06A
May 31 16:00:35 navio sh[364]: $PSRF100,0,38400,8,1,03C
pi@navio:~ $ dmesg | grep -i tty
[ 0.000000] Kernel command line: 8250.nr_uarts=1 bcm2708_fb.fbwidth=656 bcm2708_fb.fbheight=416 bcm2708_fb.fbswap=1 vc_mem.mem_base=0x3ec00000 vc_mem.mem_size=0x40000000 dwc_otg.lpm_enable=0 console=tty1 root=/dev/mmcblk0p2 rootfstype=ext4 elevator=deadline fsck.repair=yes rootwait
[ 0.001136] console [tty1] enabled
[ 1.157187] 3f201000.serial: ttyAMA0 at MMIO 0x3f201000 (irq = 87, base_baud = 0) is a PL011 rev2
[ 37.064591] cdc_acm 1-1.3:2.2: ttyACM0: USB ACM device
File -
Default settings for ArduPilot for Linux.
The file is sourced by systemd from ardurover.service
TELEM1=“-A udp:192.168.1.110:14550”
TELEM2=“-E /dev/ttyACM0”
Options to pass to ArduPilot
ARDUPILOT_OPTS=“$TELEM1 $TELEM2”
The simple report -
Simple system report
app version: 2.16.2-r0
'wifi_status, interface: wlan0':
- wifi_mode: wpa_supplicant
- ip: 192.168.0.101
is_connected: true
mac_address: 90:b6:86:09:bf:fe
ssid: emlidltd
base mode:
base coordinates:
accumulation: '2'
antenna offset:
east: '0'
north: '0'
up: '0'
coordinates:
- '0'
- '0'
- '0'
format: llh
mode: single-and-hold
output:
enabled: true
format: rtcm3
path: tcpsvr://:9000#rtcm3
type: tcpsvr
rtcm3 messages:
'1002':
enabled: true
frequency: '1'
'1006':
enabled: true
frequency: '0.1'
'1010':
enabled: true
frequency: '1'
'1097':
enabled: false
frequency: '1'
'1107':
enabled: false
frequency: '1'
'1117':
enabled: false
frequency: '1'
'1127':
enabled: false
frequency: '1'
bluetooth:
discoverable: false
enabled: false
pin: '***'
camera:
duty cycle: 20
enable: false
period: 2
polarity: true
correction input:
input2:
enabled: true
format: rtcm3
path: 192.168.0.105:9001
send position to base: 'off'
type: tcpcli
input3:
enabled: false
format: rtcm3
path: :9028
type: tcpsvr
logging:
base:
format: RTCM3
started: true
version: null
correction:
format: RTCM3
started: true
version: null
interval: 24
overwrite: true
raw:
format: UBX
started: true
version: null
solution:
format: LLH
started: true
version: null
position output:
output1:
enabled: true
format: erb
path: ttyGS0:38400:8:n:1:off
type: serial
output2:
enabled: false
format: llh
path: :9001
type: tcpsvr
output3:
enabled: true
format: llh
path: :2014
type: tcpsvr
output4:
enabled: true
format: llh_ext
path: :2015
type: tcpsvr
rtk settings:
elevation mask angle: '15'
glonass ar mode: 'off'
gps ar mode: fix-and-hold
max horizontal acceleration: '1'
max vertical acceleration: '1'
positioning mode: kinematic
positioning systems:
compass: false
galileo: false
glonass: true
gps: true
qzss: true
sbas: false
snr mask: '35'
update rate: '5'
All configurations seem to be proper at first sight.
What was the solution status in ReachView app when you’ve tested the setup?
The reach view for the RTK GPS shows “Fix”. I do have another question @tatiana.andreeva , for this project as I am using APM Planner as goround control station and Reach RTK GPS as my 2nd GPS which is getting correction data from a base(Reach RS) how do I know for certain that APM Planner is using the RTK data and not the regular GPS that is standard with Navio 2.
Hi, @tatiana.andreeva I have successfully connected the second GPS but it only connects when I run the command -
sudo ardurover -A udp:192.168.0.110:14550 -E /dev/ttyACM0
When I enable ardupilot on boot it does not see the second GPS over usb. So I disabled it and am running the command from terminal. I was wondering if there is any way I can automate this process.
To answer your second question I am using APM Planner because I am making changes to the UI and adding other features.
Hi @akhan1,
First, may I ask you to run emlidtool with sudo emlidtool autopilot and post here the screenshot of it?
As for your second question, it’s possible to understand which GNSS module is used by checking gpsstatus parameter that should be shown on the main screen. The primary GPS module can’t show 4 (RTK float) and 5 (RTK fix).
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