Please help what am I doing wrong?
(I tried to attach a illustration, but was to new here.)
Try to get RTK into mission planner and but think i have tryed “almoste” everything witout geting it to work.
I use mission planner Rover 4 downloaded from Emlid.com as a boat with speed 2-3 knots.
The telemetry radio is using the uart, and usb for Reach M+, LiDAR (and more). I’m aware that I can use the telemetry radio to receive correction from reach RS+ (according to your documentation). But I’m in a bit of a hurry and I want to find tune it later.
Rtk/gnss base configuration:
I have followed the steps described in “emlid.com/reachm2/quickstart/base-rover-setup/” and think I have the right version.
What I want is to get the correction from the base to the rover, to get an accurate position (within half a metre).
The Rover and the base will normally be in range of a few 100 metre. I have got the correction data using the Android app, but next time I turn the equipment on, correction is gone. and I need to set it up once again. Mission planner shall use this position data four positioning.
My setup:
Rover:
Raspberry Pi 4
Navio2
Reach M+ (with antanna)
Telemitry radio 344 Mhz, uart and micro usb
FrSKY radio resaver (for handheld Taranis controller) at PPM/SB 0
Pwm motor controller at 1 and 2 (for thrusters)
Benewake TF03 LiDAR Uart, with SiPEED USB – Jtag/TTL
Base
Reach RS+
My software configuration:
Setup Base:
• GNSS Settings:
o Position mode: Kinematic
o GPS AR mode: Continuous
o GLONAS AR mode: on
o Elevation mask angel: 15
o SNR mask: 35
o Max acceleration: Vertical 1m/s2, Horizontal 4,7m/s2
o GNSS Select: GPS, GLONAS, GALILEO, SBAS, QZSS, (BEIDOU). Not able to set
o Update rare = 1Hz
• Correction output:
o TCP server – localhost: 9000
o Correction format is RTCM3
• Base mode
o Base coordinates, Coordinates input mode: Average single
o Coordinate accumulation time: 2min
Wait until the base averages its position – 100% green
o RTCM3 messages: ARP station coordinates = 0,1Hz and the rest to 1Hz. GPS L1, and QZSS = 1Hz and rest to 0,5Hz
Rover Emlid Reach M2
Name: Rover_SpillTech:48:C5
Password: SpillTech
IP.: 192.168.42.1 :48:C5
Firmware version 26
Setup:
• GNSS Settings:
o Position mode: Kinematic
o GPS AR mode: Continuous
o GLONAS AR mode: Off
o Elevation mask angel: 15 [as in picture]
o SNR mask: 35 [as in picture]
o Max acceleration: Vertical 1m/s2, Horizontal 4,7m/s2
o GNSS Select: GPS, GLONAS, GALILEO, SBAS, QZSS, (BEIDOU).
o Update rare = 5Hz
• Correction output:
o TCP server – localhost: 9000
o Correction format is RTCM3
ArduPilot integration (Mission planner):
• In full parameter list I have set:
o GPS_type 2 to “5”
o serial 4_Baud to “38”
o Serial_protocol to “20” NMEA
o GPS_auto_switch to “1”
o GPS_inject_to to”1”
• I press control + F end a new window appear.
• But no inject GPS button
Bases setup: (but it is the same as earlier configured)
RTK to TPC Client, enter Base Reach IP address…… The Base is set up as localhost, and I can’t find any IP address. When I apply hotspot I get IP 192.168.42.1 :47:97 on the Base, and 192.168.42.1 :48 :C5 on the Rover.
Thank you in advance !
Best regards
Steinar in Norway
