I am trying to set up RTK GPS for the autonomous boat I am building. I am using the Mission Planner (ver 1.3.56) ground control software with a Pixhawk flight controller (2.4.8). I have set-up my pair of Reach GPSs as a base and rover combo using the instructions for integrating Reach units with ArduPilot that are part of the Reach online docs. The base station uses a Wi-Fi connection to send the corrections to the laptop running Mission Planner, the corrections are supposedly merged into the telemetry data stream. As I said, I am following the instructions given in the Reach docs.
It appears that the base station is outputting corrections. I say this because I can see data is getting to Mission Planner - the TCP Client page which opens when I instruct MP to Inject GPS information in the telemetry string, shows data being received. I have green bars that vary in size reflecting signal strength from the various satellite signals, the Link Status shows varying input/output data rates, RTCM messages (1002, 1006 and 1010) are coming in, BASE/GPS/GLONASS buttons are green (BEIDOU is red - but its not being sent from the Reachbase). The Inject MSG check box is checked. This all suggests that I am getting something from the base to Mission Planner.
I don’t think the rover Reach is getting this information. The status page in Mission Planner shows a number of parameters (GPSSTATUS2, GPSHDOP2, SATCOUNT2) - all I believe tied to the GPS (the Reach rover) plugged into SERIAL4/5 on the Pixhawk - that are 0.
If I use Reachview to look at the rover I see the following:
On the Status page in the upper righthand side I see ROV:20 Base:0 - I take this to mean the rover is seeing 20 satellites and there are no satellites coming in from the base. The section labelled RTK parameters shows age of differential is 0.0 s - there is no differential correction? There is nothing showing for the base position or height.
On the Correction Input page: Base Correction is ON, Serial Device = UART, Format = RTCM3, Baud =57600 (this is the setting for the telemetry radio - all the telemetry appears to be coming OK).
On the Position Output page: Output 1 is ON (Output 2 is OFF). The serial device = UART, Baud = 57600, Format =ERB. It appears to be connected to a /dev - the text is green.
When I check the logs - the size of the log for base corrections is 0.0 KB - there’s nothing there.
To round out the information, here is the Reachview info for the Base Reach
On the Status page ROV:21 BASE:0, Static positioning, solution status=single.
Position output = OFF
Base mode = ON
Base Coords_ 2 min average
Lat/Lon and height are set and good.
I pretty much followed the exact parameter settings described in the documentation. The only thing different is the baud rate on the radios, which as I said are having no problem sending all the other telemetry at 57600.
Lastly, when I get this working, do I need to CTRL-F to set-up the Inject GPS info every time I connect to my rover? Or is this “remembered” like all the other parameter settings?
I look forward to hearing what I need to change!