Setting up a correction link - Arducopter integration?

Hey there,

Thank you all for the valuable suggestions!

We have conducted the tests, so below are the settings that need to be applied for Reach M2 and Pixhawk Orange Cube configuration. They change regarding the Pixhawk Orange Cube’s port and M2’s output format you are using for the connection:

SERIAL3_BAUD or SERIAL4_BAUD must be set equal to the receiver’s position output baud.

M2 ERB output via GPS port

  • GPS_TYPE = 1 (AUTO) / 13 (ERB)
  • SERIAL3_PROTOCOL = 5 (GPS Output)

M2 NMEA output via GPS port

  • GPS_TYPE = 5 (NMEA)
  • SERIAL3_PROTOCOL = 20 (NMEA Output)

NMEA baud should be equal to the baud of PC-Pixhawk connection or greater.

M2 ERB output via Serial4/5 port

  • GPS_AUTO_CONFIG = 1 (Enable)
  • GPS_AUTO_SWITCH = 3 (for only one GNSS module) / 1 (to use one of two modules with best readings)
  • GPS_TYPE2 = 1 (AUTO) / 13 (ERB)
  • SERIAL4_PROTOCOL = 5 (GPS Output)

M2 NMEA output via Serial4/5 port

  • GPS_AUTO_CONFIG = 1 (Enable)
  • GPS_AUTO_SWITCH = 3 (for only one GNSS module) / 1 (to use one of two modules with best readings)
  • GPS_TYPE2 = 5 (NMEA)
  • SERIAL4_PROTOCOL = 20 (NMEA Output)

To send the raw data MAVLink packets to specified GPSes:

  • GPS_INJECT_TO = 0 (for GPS port)
  • GPS_INJECT_TO = 1 (for Serial 4/5 port)
  • GPS_INJECT_TO = 127 (for both)

We’ll think about how we can add all of this information to our guide.

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