We’ve got a Navio2 board connected to an RPi3B+ and everything works with regard to ArduPilot, but we want to run some additional software on the RPi. This software needs GPS data (for position) and an accurate time source (NTPD). We added a jumper from pin 3 of the U-blox chip to pin 12 of the RPi header (GPIO 18) to get the PPS signal, but the real hold up seems to be that ArduPilot is going directly to SPI to get the GPS feed from the U-blox chip.
Is there any supported way to configure ArduPilot to read the GPS data from a PTY (such as with the ublox-spi-to-pty utility)?
emlidtool version: 1.0.8
Vendor: Emlid Limited
Product: Navio 2
Issue: Emlid 2020-09-22 716f472abba15f9ec2b6fc51f498538e3c041d42
RCIO firmware: 0xb9064332