Reach RTK Navio/Pixhawk integration released!

[igor.vereninov]

Thank you all for your kind words!

@arnaud

is it possible to set the distance between the camera and the antenna GPS ? Because in most cases, they are not exactly at the same place and is important to set up properly to make a good geotagging of the pictures

No and it is not how it should be done. Lever arm adjustment has to be performed by photogrammetry software (Pix4D, Photoscan) as it knows the orientation much better than the onboard IMU.

@arnaud

What about the log file in the pixhawk ? Usually, after a fly, i download the log file of the flight with missionplanner (download data flash log with MAVLINK) and after i use this log containing gps coordinates to geottag my pictures. So if you have two gps device, what is in the log file : the two devices ? the default gps device when the RTK solution is not ok ?

You will have both in the logs.

@arnaud

What about the rtk during a flight : if the reach modules can’t find a solution in real time (for example when they can’t see the same satellites), the pixhwak will take account with the first device or the reach device ? Can you explain this ?

Reach can work as a standalone GPS as well, so if corrections stop it will switch to single mode. Pixhawk will choose the GPS with better fix. Fixed RTK > Float RTK > Single 3D Fix > No Fix.

Also, here are some important notes about mapping.

3DR SOLO with REACH

Our agenda right now is to release Pixhawk integration for real-time navigation. Next step would be the mapping workflow. The ETA on this is about 4 weeks. I know that there is confusion when trying to separate Pixhawk integration from precise georeferencing, so I feel like there is a need to provide further explanation that these two are very different things. This post is more for future reference, than a direct reply. ###Pixhawk integration includes a custom binary protocol which is used …