RTK and Navio

Navio / Edge Hardware
13

@timkaiser

We’ve come up with little hacks for now to make RTK work.

These are the steps that I make to see the obs-count in rtkrcv tick.

  1. you need to clone our APM repo

git clone git@github.com:emlid/ardupilot.git

git clone git@github.com:emlid/RTKLIB.git or use our tutorial to download it

  1. Compile navio-raw-rtk branch

cd ardupilot/APMrover2
git checkout navio-raw-rtk

If you compile on RPI you just type make configure && make navio and you’re good to go!

To cross-compile refer to our tutorial

  1. Launch rtkrcv

cd ~/rtklib/bin-rpi
./rtkrcv

After rtkrcv’s CLI has been launched, type several commands to it:

load rover-single-apm.conf
start
status 1

  1. Run APM

sudo ./ArduCopter.elf -A udp:<mavproxy ip>:14500 -E tcp:127.0.0.1:12346

-E tells APM to use second GPS.

For now we’ve implemented switch to second GPS right after it’s got 2D_FIX.

  1. obs() count in rtkrcv should be updated at 5Hz.

It’s been tested on NavIO+. I’ll test it on NavIO RAW as soon as I get an opportunity.
I believe it should work.

We’ve heard that APM is capable to track your position with cm accuracy. But mavlink uses float to send coordinated. Thus, only meter accuracy in GCS is achievable for now.

There’s some fuss about it right now. Take a look at this issue.

I’ll be glad to help you out anytime. And I’d really appreciate your feedback.

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