fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-01 02:41:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Move PX4 Guide source into /docs (#24490)

Browse Source 
* Add vitepress tree

* Update existing workflows so they dont trigger on changes in the docs path

* Add nojekyll, package.json, LICENCE etc

* Add crowdin docs upload/download scripts

* Add docs flaw checker workflows

* Used docs prefix for docs workflows

* Crowdin obvious fixes

* ci: docs move to self hosted runner

runs on a beefy server for faster builds

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

* ci: don't run build action for docs or ci changes

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

* ci: update runners

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

* Add docs/en

* Add docs assets and scripts

* Fix up editlinks to point to PX4 sources

* Download just the translations that are supported

* Add translation sources for zh, uk, ko

* Update latest tranlsation and uorb graphs

* update vitepress to latest

---------

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Hamish Willee
2025-03-13 16:08:27 +11:00
committed by GitHub
co-authored by Ramon Roche
parent 8e6d2ebe4a
commit 88d623bedb
5176 changed files with 558771 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/en/gps_compass/ark_sam_gps.md
+61
View File
@@ -0,0 +1,61 @@
# ARK SAM GPS
[ARK SAM GPS](https://arkelectron.gitbook.io/ark-documentation/gps/ark-sam-gps>) is a made in the USA and NDAA-compliant [GNSS/GPS](../gps_compass/index.md) u-blox SAM-M10Q GPS and industrial magnetometer.
![ARK SAM GPS](../../assets/hardware/gps/ark/ark_sam_gps.jpg)
## Where to Buy
Order this module from:
- [ARK Electronics](https://arkelectron.com/product/ark-sam-gps/) (US)
## Hardware Specifications
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_SAM_GPS/tree/main)
- Sensors
- [u-blox SAM-M10Q](https://www.u-blox.com/en/product/sam-m10q-module)
- Less than 38 mW power consumption without compromising GNSS performance
- Maximum position availability with 4 concurrent GNSS reception
- Advanced spoofing and jamming detection
- [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html)
- Pixhawk Standard UART/I2C Connector (6 Pin JST SH)
- Power Requirements
- 5V
- 15mA Average
- 20mA Max
- LED Indicators
- GPS Fix
- USA Built
- NDAA Compliant
- 6 Pin Pixhawk Standard UART/I2C Cable
## Hardware setup
The module comes with a Pixhawk-standard 6pin connector that will plug into the `GPS2` port on recent Pixhawk flight controllers.
It should be mounted front facing, as far away from the flight controller and other electronics as possible.
For more information see [Mounting the GNSS/Compass](../gps_compass/index.md#mounting-the-gnss-compass) and [Hardware Setup](../gps_compass/index.md#hardware-setup).
## PX4 Configuration
The module should be plug-n-play when used with the `GPS2` port on most flight controllers.
[Secondary GPS Configuration (UART)](../gps_compass/index.md#secondary-gps-configuration-uart) explains how you can configure the port if the GPS is not detected (note, that the configuration is the same, even if you are using GPS 2 as the primary compass).
## Pinout
### Pixhawk Standard UART/I2C Connector - 6 Pin JST-SH
| Pin Number | Signal Name | Voltage |
| ---------- | ----------- | ------- |
| 1 | 5V | 5.0V |
| 2 | RX | 3.3V |
| 3 | TX | 3.3V |
| 4 | SCL | 3.3V |
| 5 | SDA | 3.3V |
| 6 | GND | GND |
## See Also
- [ARK SAM GPS Documentation](https://arkelectron.gitbook.io/ark-documentation/gps/ark-sam-gps) (ARK Docs)
docs/en/gps_compass/gps_cuav_neo_3.md
+60
View File
@@ -0,0 +1,60 @@
# CUAV NEO 3 GPS
<Badge type="tip" text="PX4 v1.13" />
This NEO 3 GPS is manufactured by CUAV.
It integrates Ublox M9N, IST8310, three-color LED lights and safety switches, and is compatible with CUAV and Pixhawk standard controllers.
![Hero image of Neo3 GPS](../../assets/hardware/gps/cuav_gps_neo3/neo_3.jpg)
## Technical Specification
| Hardware | Type |
| :------------------------------------------------ | :----------------------------------------------------------------------------- |
| Compass | IST8310 |
| GNSS receiver | UBLOX NEO M9N |
| RGB drive | NC5623C |
| Buzzer | Passive buzzer |
| Safety switch | Physical button |
| GNSS | Beidou, Galileo, GLONASS, GPS |
| GNSS Augmentation System | SBAS:WAAS,EGNOS,MSAS<br>QZSS:L1s(SAIF)<br>other：RTCM3.3 |
| Number of concurrent GNSS | 4 |
| Frequency band | GPS:L1C/A<br>GLONASS:L10F<br>Beidou:B1I<br>Galileo:E1B/C |
| Horizontal accuracy | 2.0M |
| Speed accuracy | 0.05M/S |
| Nav. update rate | 25Hz(Max) |
| Acquisition | Cold start：24S<br>Hot start：2S<br>Aided start:2s |
| Number of satellites(MAX) | 32+ |
| Sensitivity | Tracking and nav-167dBm<br>Cold start Hot star-148dBm<br>Reacquisition -160dBm |
| Protocol | UART+IO+I2C |
| Port TYpe | GHR-10V-S |
| Supported flight controller | CUAV series,<br>Pixahwk series |
| Wave filtering | SAW+LNA+SAW |
| Anti-Electromagnetic/radio frequency interference | EMI+RFI |
| Upgrade firmware | support |
| Input voltage | 5V |
| Operating temperature | -10~70℃ |
| Size | 60\*60\*16MM |
| Weight | 33g |
## Dimensions
![Neo 3 Size](../../assets/hardware/gps/cuav_gps_neo3/neo_3_size.png)
## Pinouts
![Neo 3 Pinouts](../../assets/hardware/gps/cuav_gps_neo3/neo_3_pinouts.png)
## Where to Buy
- [CUAV](https://cuav.en.alibaba.com/product/1600217379204-820872629/CUAV_NEO_3_M9N_GPS_Module_for_Pixhawk_Compass_gps_tracker_navigation_gps.html?spm=a2700.shop_oth.74.1.636e28725EvVHb)
## Wiring and Connections
Neo3 wiring and connection diagram
![Neo3 wiring and connection diagram](../../assets/hardware/gps/cuav_gps_neo3/neo_3_connect.png)
## More info
- [CUAV docs](https://doc.cuav.net/gps/neo-series-gnss/zh-hans/neo-3.html)
docs/en/gps_compass/gps_cuav_neo_3pro.md
+63
View File
@@ -0,0 +1,63 @@
# CUAV NEO 3 Pro
<Badge type="tip" text="PX4 v1.13" />
NEO 3Pro is a DroneCan GPS receiver produced by CUAV.
It integrates UBLOX M9N, STM32F4 MCU, RM3100 compass, three-color LED light and safety switch.
![Hero image of Neo3 Pro GPS](../../assets/hardware/gps/cuav_gps_neo3/neo_3pro.jpg)
## Technical Specifications
| Hardware | Type |
| :------------------------------------------------ | :----------------------------------------------------------------------------- |
| Processor | STM32F412 |
| Compass | RM3100 |
| Barometer | MS5611 |
| GNSS receiver | UBLOX NEO M9N |
| RGB drive | NCP5623C |
| Buzzer | Passive buzzer |
| Safety switch | Physical button |
| GNSS | Beidou, Galileo, GLONASS, GPS |
| GNSS Augmentation System | SBAS:WAAS,EGNOS,MSAS<br>QZSS:L1s(SAIF)<br>other：RTCM3.3 |
| Number of concurrent GNSS | 4 |
| Frequency band | GPS:L1C/A<br>GLONASS:L10F<br>Beidou:B1I<br>Galileo:E1B/C |
| Horizontal accuracy | 2.0M |
| Speed accuracy | 0.05M/S |
| Nav. update rate | 25Hz(Max) |
| Acquisition | Cold start：24S<br>Hot start：2S<br>Aided start:2s |
| Number of satellites(MAX) | 32+ |
| Sensitivity | Tracking and nav-167dBm<br>Cold start Hot star-148dBm<br>Reacquisition -160dBm |
| Protocol | UAVCAN |
| Port TYpe | GHR-04V-S |
| Supported flight controller | CUAV series,<br>Pixahwk series |
| Wave filtering | SAW+LNA+SAW |
| Anti-Electromagnetic/radio frequency interference | EMI+RFI |
| Upgrade firmware | support |
| Input voltage | 5V |
| Operating temperature | -10~70℃ |
| Size | 60*60*16MM |
| Weight | 33g |
## Where to Buy
- [CUAV](https://cuav.en.alibaba.com/product/1600165544920-820872629/Free_shipping_CUAV_Neo_3_pro_drone_UAVCAN_GNSS_processor_STM32F412_autopilot_ublox_M9N_positioning_RM3100_compass_uav_gps_module.html?spm=a2700.shop_oth.74.2.636e28725EvVHb)
## Wiring and Connections
NEO 3 Pro connected to autopilot CAN1/CAN2 interface
![NEO 3 Pro connected to autopilot CAN1/CAN2 interface](../../assets/hardware/gps/cuav_gps_neo3/neo_3pro_connect.png)
## PX4 Configuration
Open **QGroundControl > Parameters** and modify the following parameters:
- `UAVCAN_ENABLE`Set to `Sensors Automatic config` .
- `UAVCAN_SUB_GPS` Set to `Enable`.
![QGC Full Parameter screen showing DroneCan (UAVCAN) parameters](../../assets/hardware/gps/cuav_gps_neo3/px4_can.jpg)
## More info
- [CUAV docs](https://doc.cuav.net/gps/neo-series-gnss/en/neo-3-pro.html)
docs/en/gps_compass/gps_cuav_neo_3x.md
+59
View File
@@ -0,0 +1,59 @@
# CUAV NEO 3X GPS
<Badge type="tip" text="PX4 v1.13" />
CUAV Neo 3X is a GNSS receiver that is waterproof and dustproof.
It has IP66 protection capability and integrates UBLOX M9N module, RM3100 compass, color LED light and safety switch.
Main features :
- Professional waterproof and dustproof design.
- DroneCAN protocol support.
- Quad Satellite System Receiver (Ublox M9N).
![Hero image of Neo3x GPS](../../assets/hardware/gps/cuav_gps_neo3/neo_3x.jpg)
## Technical Specification
| Hardware | Type |
| :------------------------ | :-------------------------------------------------------------------------------- |
| MUC | STM32F412 |
| Protocol | DroneCAN |
| Compass | RM3100 |
| Barometer | ICP-20100 |
| GNSS receiver | Ublox M9N |
| Frequency band | GPS: L1C/A<br>GLONASS:L10F <br>Beidou:B1I<br>Galileo:E1B/C |
| Number of concurrent GNSS | 4 |
| Horizontal accuracy | 1.5m |
| Number of satellites(MAX) | 32+ |
| Acquisition | Cold start：24S<br>Hot start：2S<br>Aided start:2s |
| Nav. update rate | 5Hz(default)，25Hz(MAX) |
| Sensitivity | Tracking and nav:-167dBm<br>Cold start Hot star:-148dBm<br>Reacquisition: -160dBm |
| Protection level | IP66 |
| Input voltage | 4.7~5.2V |
| Operating temperature | -10~70℃ |
| Size | 67*67*21.2mm |
| Weight | 46g (without cable） |
## Where to Buy
- [CUAV](https://www.alibaba.com/product-detail/Free-shipping-CUAV-NEO-3X-GPS_1601004167114.html?spm=a2747.manage.0.0.6aa271d2urCPnP)
## Wiring and Connections
NEO 3X connected to autopilot CAN1/CAN2 interface
![NEO 3X connected to autopilot CAN1/CAN2 interface](../../assets/hardware/gps/cuav_gps_neo3/neo_3x_connect.jpg)
## PX4 Configuration
Open **QGroundControl > Parameters** and modify the following parameters:
- `UAVCAN_ENABLE`Set to `Sensors Automatic config` .
- `UAVCAN_SUB_GPS` Set to `Enable`.
![QGC Full Parameter screen showing DroneCan (UAVCAN) parameters](../../assets/hardware/gps/cuav_gps_neo3/px4_can.jpg)
## More info
- [CUAV docs](https://doc.cuav.net/gps/neo-series-gnss/en/neo-3x.html)
docs/en/gps_compass/gps_hex_here2.md
+89
View File
@@ -0,0 +1,89 @@
# HEX/ProfiCNC Here2 GPS (Discontinued)
::: warning
This has been superseded by the [Cube Here 3](https://www.cubepilot.com/#/here/here3)
:::
The [Here2 GPS receiver](http://www.proficnc.com/all-products/152-gps-module.html) is an update to the Here GPS module from HEX.
Main features include:
- Concurrent reception of up to 3 GNSS (GPS, Galileo, GLOSNASS, BeiDou)
- Industry Leading -167 dBm navigation sensitivity
- Security and integrity protection
- Supports all satellite augmentation systems
- Advanced jamming and spoofing detection
<img src="../../assets/hardware/gps/here2_gps_module.jpg" />
## Where to Buy
- [ProfiCNC](http://www.proficnc.com/all-products/152-gps-module.html) (Australia)
- [Other resellers](http://www.proficnc.com/stores)
## Configuration
Setup and use on PX4 is largely plug and play.
::: info
- If the GPS is _not detected_ then [update the Here2 firmware](https://docs.cubepilot.org/user-guides/here-2/updating-here-2-firmware).
- If the GPS is detected but does not work, attempt the process outlined in [allocating node uavcan ID](https://docs.cubepilot.org/user-guides/here-2/here-2-can-mode-instruction).
:::
## Wiring and Connections
The Here2 GPS comes with an 8 pin connector that can be inserted directly into the [Pixhawk 2](http://www.hex.aero/wp-content/uploads/2016/07/DRS_Pixhawk-2-17th-march-2016.pdf) GPS UART port.
The Pixhawk 3 Pro and Pixracer have a 6 pin GPS port connector.
For these controllers you can modify the GPS cable (as shown below) to remove pin 6 and 7.
<img src="../../assets/hardware/gps/rtk_here_plug_gps_to_6pin_connector.jpg" width="500px" />
Pin 6 and 7 are for the safety button - these can be attached as well if needed.
### Pinout
The Here2 GPS pinout is provided below. This can be used to help modify the connector for other autopilot boards.
| pin | Here2 GPS | pin | Pixhawk 3 Pro GPS |
| --- | ---------- | --- | ----------------- |
| 1 | VCC_5V | 1 | VCC |
| 2 | GPS_RX | 2 | GPS_TX |
| 3 | GPS_TX | 3 | GPS_RX |
| 4 | SCL | 4 | SCL |
| 5 | SDA | 5 | SDA |
| 6 | BUTTON | - | - |
| 7 | BUTTON_LED | - | - |
| 8 | GND | 6 | GND |
## Specification
- **Processor:** STM32F302
- **Sensor**
- **Compass, Gyro, Accelerometer:** ICM20948
- **Barometer:** MS5611
- **Receiver Type:** 72-channel u-blox M8N engine, GPS/QZSS L2 C/A, GLONASS L10F, BeiDou B11, Galileo E1B/C, SBAS L1 C/A: WAAS, EGNOS, MSAS, GAGAN
- **Navigation Update Rate:** Max: 10 Hz
- **Positionaing Accuracy:** 3D Fix
- **Time to first fix:**
- **Cold start:** 26s
- **Aided start:** 2s
- **Reacquisition:** 1s
- **Sensitivity:**
- **Tracking & Navigation:** -167 dBm
- **Hot start:** -148 dBm
- **Cold start:** -157 dBm
- **Assisted GNSS**
- AssistNow GNSS Online
- AssistNow GNSS Offline (up to 35 days)
- AssistNow Autonomous (up to 6 days)
- OMA SUPL& 3GPP compliant
- **Oscillator:** TCXO (NEO-8MN/Q)
- **RTC crystal:** Build in
- **ROM:** Flash (NEO-8MN)
- **Available Antennas:** Active Antenna & Passive Antenna
- **Signal Integrity:** Signature feature with SHA 256
- **Protocols & Interfaces:**
- **UART/I2C/CAN:** JST_GH Main interface, Switch internally.
- **STM32 Main Programming Interface:** JST_SUR
docs/en/gps_compass/gps_holybro_m8n_m9n.md
+60
View File
@@ -0,0 +1,60 @@
# Holybro M8N & M9N GPS
The GPS includes either a M8N or M9N UBLOX module, IST8310 compass, tri-colored LED indicator, and a safety switch.
There are 3 different connector options, allowing easy connection to flight controllers that are compliant with the Pixhawk-connector standard as either a primary or secondary GPS.
This module ships with a baud rate of 38400 Hz.
The main difference between the modules is that the M8N allows concurrent reception of up to 3 GNSS systems, while M9N can concurrently connect to up to 4.
<img src="../../assets/hardware/gps/holybro_m8n_gps.jpg" width="200px" title="holybro_gps" /> <img src="../../assets/hardware/gps/holybro_m9n_gps.jpg" width="215px" title="holybro_gps" />
### Features and Specifications
- Ublox Neo-M8N or M9N module
- Industry leading –167 dBm navigation sensitivity
- Cold starts: 26s
- LNA MAX2659ELT+
- 25 x 25 x 4 mm ceramic patch antenna
- Rechargeable Farah capacitance
- Low noise 3.3V regulator
- Current consumption: less than 150mA @ 5V
- Fix indicator LEDs
- Protective case
- 26cm cable included
- Diameter: 50mm total size, 32 grams with case.
- **M8N:** Concurrent reception of up to 3 GNSS (GPS, Galileo, GLONASS, BeiDou)
- **M9N:** Concurrent reception of up to 4 GNSS (GPS, Galileo, GLONASS, BeiDou)
## Where to Buy
- [Holybro](https://holybro.com/collections/gps)
Note that there are variants for both M8N and M9N and also three different connectors.
## Wiring and Connections
Both the M8N and M9N GPS modules come in three variants.
These allow out-of-the box connection to flight controllers that follow the Pixhawk connector standard as either a primary or secondary GPS.
- **SKU12012 Holybro M8N GPS (JST GHR1.25mm 10 pin cable)**.
This JST GH 10Pin connector can be used on Pixhawk Series 10pin `GPS Module` or `GPS1` input port.
![Holybro M8N with Pixhawk GPS1 connector](../../assets/hardware/gps/holybro_gps_pinout.jpg)
- **SKU12014 Holybro M8N 2nd GPS (JST GHR1.25m m 6pin cable)**
This JST GH 6Pin connector can be used on Pixhawk Series 6pin `UART`, `I2C` or `GPS2` input port as secondary GPS.
![Holybro M8N with Pixhawk 2nd GPS connector](../../assets/hardware/gps/holybro_gps_pinout3.jpg)
- **SKU12013 Holybro M8N GPS for Pix32 (Molex 1.25mm 6pin & 4pin & 3pin cable)**
These Molex 1.25mm 6pin & 4pin & 3pin connectors are for the [Holybro pix32 Flight Controller](../flight_controller/holybro_pix32.md) `Switch`, `GPS`, and `I2C` input ports (not for the Pix32 v5 or v6).
![Holybro M8N with Pix32 connector](../../assets/hardware/gps/holybro_gps_pinout2.jpg)
## Dimensions
![Image showing dimensions of both modules](../../assets/hardware/gps/holybro_gps_dimensions.jpg)
docs/en/gps_compass/gps_locosys_hawk_a1.md
+98
View File
@@ -0,0 +1,98 @@
# LOCOSYS Hawk A1 GPS/GNSS
The [LOCOSYS HAWK A1 GPS/GNSS receiver](https://www.locosystech.com/en/product/hawk-a1-LU23031-V2.html) is a dual frequency multi-constellation GNSS/GPS receiver compatible with PX4.
Main features include:
- Concurrent reception of L1 and L5 band signals
- Supports GPS, GLONASS,BEIDOU, GALILEO, QZSS
- Capable of SBAS (WAAS, EGNOS, MSAS, GAGAN)
- Support 135-channel GNSS
- Fast TTFF at low signal level
- Free hybrid ephemeris prediction to achieve faster cold start
- Default 5Hz, up to 10 Hz update rate (SBAS at 5Hz update rate only)
- Built-in super capacitor to reserve system data for rapid satellite acquisition
- Three LED indicator for Power, PPS and Data transmit
![Hawk A1](../../assets/hardware/gps/locosys_hawk_a1/locosys_hawk_a1_gps.png)
## Where to Buy
- [LOCOSYS](https://www.locosystech.com/en/product/hawk-a1-LU23031-V2.html) (Taiwan)
## Configuration
You can use the Hawk A1 as either main (primary) or secondary GPS system.
The PX4 parameters should be set as below for each case.
### Main GNSS
To use the Hawk A1 your main GPS device:
| Parameter | Value | Description |
| -------------------------------------------------------------------------- | ---------------------------------------------- | --------------------------------------------------------------------------------------- |
| [GPS_1_CONFIG](../advanced_config/parameter_reference.md#GPS_1_CONFIG) | 102 (Telem 2 or another available serial port) | Configure main GPS port |
| [GPS_1_PROTOCOL](../advanced_config/parameter_reference.md#GPS_1_PROTOCOL) | 1 (u-blox) | Configure GPS protocol |
| [SER_TEL2_BAUD](../advanced_config/parameter_reference.md#SER_TEL2_BAUD) | 230400 | Configure the serial port baudrate (here the GPS is connected to `TELEM2` for instance) |
### Secondary GNSS
To use the Hawk A1 as an auxiliary GPS device (in addition to the main GPS):
| Parameter | Value | Description |
| -------------------------------------------------------------------------- | ---------------------------------------------- | ------------------------------------------------------------------------------------- |
| [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) | 102 (Telem 2 or another available serial port) | Configure main GPS port |
| [GPS_2_PROTOCOL](../advanced_config/parameter_reference.md#GPS_2_PROTOCOL) | 1 (u-blox) | Configure GPS protocol |
| [SER_TEL2_BAUD](../advanced_config/parameter_reference.md#SER_TEL2_BAUD) | 230400 | Configure the serial port baudrate (here the GPS is connected to TELEM2 for instance) |
## Wiring and Connections
The Locosys GPS comes with an 6-pin JST-GH Pixhawk-standard connector that can be inserted directly into either the GPS1 UART port (or GPS2 UART ports from Pixhawk FMUv5).
![GPS cable](../../assets/hardware/gps/locosys_hawk_a1/locosys_gps_cable.png)
### Pinout
The LOCOSYS GPS pinout is provided below.
This can be used to help modify the connector for other autopilot boards.
| pin | Locosys GPS | pin | Pixhawk GPS 2 |
| --- | ----------- | --- | ------------- |
| 1 | VCC_5V | 1 | VCC |
| 2 | GPS_RX | 2 | GPS_TX |
| 3 | GPS_TX | 3 | GPS_RX |
| 4 | NC | 4 | SDA |
| 5 | NC | 5 | SCL |
| 6 | GND | 6 | GND |
## Status LEDs
| Color | Name | Description |
| ----- | --------------- | ---------------------------------- |
| Green | TX Indicator | GNSS Data transmission |
| Red | Power Indicator | Power |
| Blue | PPS | Precise Positioning Service active |
![Hawk A1 LEDs](../../assets/hardware/gps/locosys_hawk_a1/locosys_hawk_a1_leds.png)
## Specifications
- **Receiver Type:** 135-channel LOCOSYS MC-1612-V2b engine, GPS/QZSS L1 C/A, L5C, GLONASS L1OF, BeiDou B1I, B2a Galileo:E1, E5a SBAS L1 C/A: WAAS, EGNOS, MSAS, GAGAN
- **Navigation Update Rate:** Max: 5Hz default Max: 10 Hz
- **Positioning Accuracy:** 3D Fix
- **Time to first fix:**
- **Cold start:** 28s
- **Aided start:** EASY
- **Sensitivity:**
- **Tracking & Navigation:** -165 dBm
- **Assisted GNSS:** EASY DGPS
- **Oscillator:** 26Mhz TCXO
- **RTC crystal:** 32.768KHz
- **Available Antennas:** L1+L5 multi frequency antenna
- **Signal Integrity:** L1+L5 GPS GLONASS GALILEO BEIDOU QZSS SBAS
- **Protocols & Interfaces:**
- **UART/I2C:** JST_GH Main interface, Switch internally.
## Further info
- [LOCOSYS GPS User Manual](https://www.locosystech.com/Templates/att/LU23031-V2%20datasheet_v0.2.pdf?lng=en)
docs/en/gps_compass/gps_smartap.md
+63
View File
@@ -0,0 +1,63 @@
# Sky-Drones SmartAP GPS
[SmartAP GPS](https://sky-drones.com/navigation/smartap-gnss.html) is a GNSS navigation module with integrated antenna, UBlox Neo-M8N chipset, 3x 3-axis magnetometer (compass), 1x MS-5611 pressure sensor and RGB LED driver.
SmartAP GPS supports concurrent reception of up to 3 GNSS (GPS, Galileo, GLONASS, BeiDou).
![SmartAP GPS](../../assets/hardware/gps/gps_smartap_gps.jpg)
Key features include:
- Concurrent reception of up to 3 GNSS (GPS, Galileo, GLONASS, BeiDou)
- 3x built-in magnetometers: HMC5983, IST8310 and LIS3MDL
- 1x built-in barometer: MS5611
- RGB LED Driver and status LEDs
## Where to Buy
- [Sky-Drones Store](https://sky-drones.com/navigation/smartap-gnss.html)
## Kit Contents
An SmartAP GPS kit includes:
- 1x GPS modules
- 1x 30cm cable
## Configuration
For the aircraft, you should set the parameter [SER_GPS1_BAUD](../advanced_config/parameter_reference.md#SER_GPS1_BAUD) to 115200 8N1 to ensure that PX4 uses the correct baudrate.
## Pinout and Connections
SmartAP GPS has 10 pin JST-GH connector that can be plugged into a Pixhawk flight controller (compliant with Pixhawk connector standard).
| Pin number | Pin name |
| ---------- | ---------- |
| 1 | 5V |
| 2 | USART1_RX |
| 3 | USART1_TX |
| 4 | I2C1_SCL |
| 5 | I2C1_SDA |
| 6 | SAFETY_BTN |
| 7 | SAFETY_LED |
| 8 | +3V3 |
| 9 | BUZZER |
| 10 | GND |
## Specification
- U-blox M8N GPS Receiver
- IST8310 Magnetometer
- HMC5983 Magnetometer
- LIS3MDL Magnetometer
- MS5611 Pressure sensor
- RGB LEDs for status indication
- NCP5623 I2C Driver
- Diameter: 75mm
- Weight: 34g
## Further Information
- [Buy SmartAP GPS](https://sky-drones.com/navigation/smartap-gnss.html)
- [Documentation](https://docs.sky-drones.com/avionics/smartap-gnss)
- [CAD Models](https://docs.sky-drones.com/avionics/smartap-gnss/cad-model)
docs/en/gps_compass/index.md
+207
View File
@@ -0,0 +1,207 @@
# Global Navigation Satellite Systems (GNSS)
A GNSS system is needed for missions, and some other automatic and manual/assisted modes.
PX4 supports Global Navigation Satellite Systems (GNSS) such as GPS, GLONASS, Galileo, Beidou, QZSS and SBAS, etc. using receivers that communicate via the u-blox, MTK Ashtech or Emlid protocols, or via UAVCAN.
Up to two GPS modules can be connected using either a UART or the CAN bus:
- A primary [GNSS module](../gps_compass/#supported-gnss) that usually also includes a [compass/magnetometer](../gps_compass/magnetometer.md), [buzzer](../getting_started/px4_basic_concepts.md#buzzer), [safety switch](../getting_started/px4_basic_concepts.md#safety-switch), and [UI LED](../getting_started/led_meanings.md#ui-led).
- An optional secondary GNSS/compass module that is used as a fallback.
This may include a buzzer, safety switch, LEDs, but these are not used by PX4.
![GPS + Compass](../../assets/hardware/gps/gps_compass.jpg)
::: info
PX4 also supports [Real Time Kinematic (RTK)](../gps_compass/rtk_gps.md) and **Post-Processing Kinematic (PPK)** GNSS Receivers, which extend GNSS systems to centimetre-level precision.
:::
## Supported GNSS
PX4 should work with any unit that communicates via the u-blox, MTK Ashtech or Emlid protocols, or via UAVCAN.
This table contains non-RTK GNSS units (most of which also have a compass).
These have been tested by the PX4 dev team, or which are popular within the PX4 community.
| Device | GPS | Compass | [CAN](../dronecan/index.md) | Buzzer / SafeSw / LED | Notes |
| :----------------------------------------------------------- | :---------: | :-----------------------: | :-------------------------: | :-------------------: | :-------------------------- |
| [ARK GPS](../dronecan/ark_gps.md) | M9N | BMM150 | ✓ | ✓ | + Baro, IMU |
| [ARK SAM GPS](../gps_compass/ark_sam_gps.md) | SAM-M10Q | IIS2MDC | | ✓ | |
| [ARK TESEO GPS](../dronecan/ark_teseo_gps.md) | Teseo-LIV4F | BMM150 | ✓ | ✓ | + Baro, IMU |
| [Avionics Anonymous UAVCAN GNSS/Mag][avionics_anon_can_gnss] | SAM-M8Q | MMC5983MA | ✓ | ✘ | |
| [CUAV NEO 3 GPS](../gps_compass/gps_cuav_neo_3.md) | M9N | IST8310 | | ✓ | |
| [CUAV NEO 3 Pro GPS](../gps_compass/gps_cuav_neo_3pro.md) | M9N | RM3100 | ✓ | ✓ | + Baro |
| [CUAV NEO 3X GPS](../gps_compass/gps_cuav_neo_3x.md) | M9N | RM3100 | ✓ | ✘✓✓ | + Baro. |
| [CubePilot Here2 GNSS GPS (M8N)][CubePilot Here2] | M8N | ICM20948 | | ✓ | Superseded by HERE3 |
| [Emlid Reach M+](https://emlid.com/reach/) | ✓ | ✘ | | ✘ | Supports PPK. RTK expected. |
| [Holybro DroneCAN M8N GPS](../dronecan/holybro_m8n_gps.md) | M8N | BMM150 | ✓ | ✘ | + Baro |
| [Holybro Micro M8N GPS][Hb Micro M8N] | M8N | IST8310 | | ✘ | |
| [Holybro Nano Ublox M8 5883 GPS][hb_nano_m8_5883] | UBX-M8030 | QMC5883 | | ✘ | |
| [Holybro M8N GPS](../gps_compass/gps_holybro_m8n_m9n.md) | M8N | IST8310 | | ✓ | |
| [Holybro M9N GPS](../gps_compass/gps_holybro_m8n_m9n.md) | M9N | IST8310 | | ✓ | |
| [Holybro DroneCAN M9N GPS][hb_can_m9n] | M9N | BMM150 | ✓ | ✓ | |
| [Holybro M10 GPS][hb_m10] | M10 | IST8310 | | ✓ | |
| [Hobbyking u-blox Neo-M8N GPS & Compass][hk_ublox_neo_8mn] | M8N | ✓ | | ✘ | |
| [LOCOSYS Hawk A1 GNSS receiver][LOCOSYS Hawk A1] | MC-1612-V2b | optional | | ✘✘✓ | |
| [LOCOSYS Hawk R1](../gps_compass/rtk_gps_locosys_r1.md) | MC-1612-V2b | | | ✘✘✓ | |
| [LOCOSYS Hawk R2](../gps_compass/rtk_gps_locosys_r2.md) | MC-1612-V2b | IST8310 | | ✘✘✓ | |
| [mRo GPS u-blox Neo-M8N Dual Compass][mro_neo8mn_dual_mag] | M8N | LIS3MDL, IST8308 | | ✘ | |
| [RaccoonLab L1 GNSS NEO-M8N][RccnLabGNSS250] | NEO-M8N | RM3100 | ✓ | ✘✘✓ | + Baro |
| [Sky-Drones SmartAP GPS](../gps_compass/gps_smartap.md) | M8N | HMC5983, IST8310, LIS3MDL | | ✓ | + Baro |
| [Zubax GNSS 2](https://zubax.com/products/gnss_2) | MAX-M8Q | LIS3MDL | | ✘ | + Baro |
<!-- links to improve layout of table for editing -->
[avionics_anon_can_gnss]: https://www.tindie.com/products/avionicsanonymous/uavcan-gps-magnetometer/
[hk_ublox_neo_8mn]: https://hobbyking.com/en_us/ublox-neo-m8n-gps-with-compass.html
[mro_neo8mn_dual_mag]: https://store.mrobotics.io/product-p/m10034-8308.htm
[hb_nano_m8_5883]: https://holybro.com/products/nano-m8-5883-gps-module
[hb_m10]: https://holybro.com/collections/gps/products/m10-gps
[hb_can_m9n]: https://holybro.com/products/dronecan-m9n-gps
[RccnLabGNSS250]: https://docs.raccoonlab.co/guide/gps_mag_baro/gnss_v250.html
[LOCOSYS Hawk A1]: ../gps_compass/gps_locosys_hawk_a1.md
[Hb Micro M8N]: https://holybro.com/products/micro-m8n-gps
[CubePilot Here2]: ../gps_compass/gps_hex_here2.md
Notes:
- ✓ or a specific part number indicate that a features is supported, while ✘ or empty show that the feature is not supported.
"?" indicates "unknown".
- Where possible and relevant the part name is used (i.e. ✓ in the GPS column indicates that a GPS module is present but the part is not known).
- The list may omit some discontinued hardware that is still supported (check earlier versions for info about discontinued modules).
Removed items include:
- _Here_ GPS
- Drotek DP0804
## Mounting the GNSS/Compass
Most GNSS modules also contain a [compass/magnetometer](../gps_compass/magnetometer.md) part (see link for calibration/setup information).
Because of this the GNSS module should be mounted as far away from the motor/ESC power supply lines as possible - typically on a pedestal or wing (for fixed-wing).
[Mounting the Compass](../assembly/mount_gps_compass.md) explains how to mount a GNSS module that has a compass.
## Hardware Setup
The hardware setup depends on the flight controller, the GNSS module, and the connection bus it supports - UART/I2C or CAN.
### Pixhawk Standard Connectors
Connecting GNSS/Compass modules is easiest when using a flight controller that supports the [Pixhawk connector standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
All flight controllers that follow this standard, including most [Pixhawk Standard](../flight_controller/autopilot_pixhawk_standard.md) controllers (and many others) use the same port connectors and wiring for connecting GNSS modules.
Because of this standardization, many popular GNSS/Compass modules plug directly into the flight controller "out of the box".
If you're using GNSS/Compass modules that connect via generic UARTs and serial protocols like I2C:
- The primary GNSS/Compass module should be connected to the 10-pin port labelled `GPS1`, `GPS&SAFETY`, or `GPS` (this is port described as "Full GPS + Safety Switch Port" in the connector standard).
The GPS should incorporate a [buzzer](../getting_started/px4_basic_concepts.md#buzzer), [safety switch](../getting_started/px4_basic_concepts.md#safety-switch), and [UI LED](../getting_started/led_meanings.md#ui-led).
- An (optional) secondary module can be connected to the 6-pin `GPS2` port, if present (this is "Basic GPS Port" in the standard).
- The ports are generally plug-n-play for u-blox modules (only).
::: info
The ports include a UART for the GNSS and an I2C port for connecting the Compass.
The "Full GPS + Safety Switch Port" includes additional I2C connectors for LEDs, buzzer and safety switch.
There is nothing to stop you from connecting the GPS pins to any other free UART as a GNSS port, and the compass or buzzer to an I2C port.
However if you do this then you will need to [configure the ports](../peripherals/serial_configuration.md).
:::
For [DroneCAN](../dronecan/index.md#supported-hardware) GNSS/compass modules:
- DroneCan GPS modules are connected to CAN-bus ports, which are 4-pin ports labeled `CAN1` or `CAN2`.
### Other Flight Controllers/GNSS Modules
If you're working with a flight controller and GNSS module combination that does not comply with the Pixhawk connector standard then you will need to pay particular attention to the connector pinouts on the flight controller and the module.
You may need to rewire/solder the connectors.
:::warning
Some flight controllers use ports that are software-compatible but not connector compatible (even if they use the same connector!) because they use different pin orderings.
:::
The pinouts for the connector standard are documented in the standard.
Pinouts for other controllers and the GNSS modules should be included in their manufacturer documentation.
## GNSS Configuration
The default configuration for GPS module connected via the GPS serial port is provided below.
Additional device-specific configuration may be provided in PX4 or manufacturer device documentation (e.g. [Trimble MB-Two > Configuration](../gps_compass/rtk_gps_trimble_mb_two.md#configuration)).
### Primary GPS Configuration (UART)
Primary GPS configuration on Pixhawk is handled transparently for U-Blox GPS modules — simply connect the GPS module to the port labeled `GPS1`, `GPS&SAFETY`, or `GPS` (if there is only one GPS port), and everything should work.
The default [Serial Port Configuration](../peripherals/serial_configuration.md#default_port_mapping) configures `GPS1` as a GPS port using [GPS_1_CONFIG](../advanced_config/parameter_reference.md#GPS_1_CONFIG), sets the protocol to `u-blox` with [GPS_1_PROTOCOL](../advanced_config/parameter_reference.md#GPS_1_PROTOCOL), and a baud rate of `0: Auto` with [SER_GPS1_BAUD](../advanced_config/parameter_reference.md#SER_GPS1_BAUD).
For GPS types like Trimble, Emlid, MTK, you will need to change the `GPS_1_PROTOCOL` appropriately.
For _Trimble MB-Two_ you will also need to modify `SER_GPS1_BAUD` to set the rate to 115200 baud.
<a id="dual_gps"></a>
### Secondary GPS Configuration (UART)
To use a secondary GPS, you will generally attach it to the port named `GPS2`, if present, and otherwise attach it to any free UART port.
The port may be pre-configured, but unlike the primary port, this is not guaranteed.
To ensure the port is set up correctly perform a [Serial Port Configuration](../peripherals/serial_configuration.md) to assign [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) to the selected port.
The following steps show how to configure a secondary GPS on the `GPS 2` port in _QGroundControl_:
1. [Find and set](../advanced_config/parameters.md) the parameter [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) to **GPS 2**.
- Open _QGroundControl_ and navigate to the **Vehicle Setup > Parameters** section.
- Select the **GPS** tab, then open the [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) parameter and select `GPS 2` from the dropdown list.
![QGC Serial Example](../../assets/peripherals/qgc_serial_config_example.png)
1. Reboot the vehicle in order to make the other parameters visible.
1. Select the **Serial** tab, and open the [SER_GPS2_BAUD](../advanced_config/parameter_reference.md#SER_GPS2_BAUD) parameter (`GPS 2` port baud rate): set it to _Auto_ (or 115200 for the Trimble).
![QGC Serial Baudrate Example](../../assets/peripherals/qgc_serial_baudrate_example.png)
After setting up the second GPS port:
1. Configure the ECL/EKF2 estimator to blend data from both GPS systems.
For detailed instructions see: [Using the ECL EKF > Dual Receivers](../advanced_config/tuning_the_ecl_ekf.md#dual-receivers).
### DroneCAN GNSS Configuration
[DroneCAN](../dronecan/index.md#supported-hardware) GNSS configuration is covered in the linked document (and in the documentation for specific modules).
### Configuring GPS as Yaw/Heading Source
GPS can be used as a source for yaw fusion when using modules where _yaw output is supported by the device_.
This is documented in [RTK GPS > Configuring GPS as Yaw/Heading Source](../gps_compass/rtk_gps.md#configuring-gps-as-yaw-heading-source).
## Compass Configuration
Compass calibration for an included compass part is covered in: [Compass Configuration](../config/compass.md).
## GNSS Data Overview
PX4 uses the subset of information that can be provided by most GNSS modules.
This is written to the [SensorGps](../msg_docs/SensorGps.md) uORB message and used by the estimator as an input to global position estimation.
It is also streamed via MAVLink using messages such as [GPS_RAW_INT](https://mavlink.io/en/messages/common.html#GPS_RAW_INT) and [GPS2_RAW](https://mavlink.io/en/messages/common.html#GPS2_RAW).
Some of GNSS terms that are useful for interpreting the data include:
- `DOP`: Dilution of position (dimensionless).
This is a measure of the geometric quality of satellite positions and their effect on the precision of the GPS receiver's calculations.
- `EPH`: Standard deviation of horizontal position error (metres).
This represents the the uncertainty in the GPS fix latitude and longitude.
- `EPV`: Standard deviation of vertical position error (metres).
This represents the the uncertainty in the GPS fix altitude.
### DOP vs EPH/EPV
DOP is a measure of the potential for high accuracy based on satellite positions.
EPH/EPV are more comprehensive: they are direct estimates of the GPS position error and consider both satellite geometry and other error sources like signal noise and atmospheric effects.
It is possible to have low DOP (good satellite geometry) but still have high EPH/EPV if there is significant signal noise or atmospheric interference.
EPH/EPV values therefore provide a more immediate and practical estimate of the actual GPS accuracy you can expect under current conditions.
## Developer Information
- GPS/RTK-GPS
- [RTK-GPS](../advanced/rtk_gps.md)
- [GPS driver](../modules/modules_driver.md#gps)
- [DroneCAN Example](../dronecan/index.md)
- Compass
- [Driver source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer) (Compasses)
docs/en/gps_compass/magnetometer.md
+91
View File
@@ -0,0 +1,91 @@
# Magnetometer (Compass) Hardware & Setup
PX4 uses a magnetometer (compass) for determining the yaw and heading of the vehicle relative to the earth's magnetic field.
[Pixhawk series](../flight_controller/pixhawk_series.md) flight controllers, and many others, include an [internal compass](#internal-compass).
This is used for automatic rotation detection of external magnetometers and for autopilot bench testing.
It should not be used otherwise, and is automatically disabled after [calibration](../config/compass.md) if an external compass is available.
On most vehicles, and in particular on small vehicles, we recommend using a _combined GPS + Compass_ [mounted as far away from the motor/ESC power supply lines as possible](../assembly/mount_gps_compass.md) - typically on a pedestal or wing (for fixed-wing).
While you can use a [stand-alone external compass](#stand-alone-compass-modules) (as listed below) it is far more common to use a [combined GPS/Compass module](#combined-gnss-compass-modules).
Magnetometers support connection to either the I2C/SPI-bus (Pixhawk `GPS1` or `GPS2` ports) or to the CAN bus.
If a module doesn't include "CAN" in its product name then it is probably an I2C/SPI compass.
Up to 4 internal or external magnetometers can be connected, though only one will actually be used as a heading source.
The system automatically chooses the best available compass based on their _priority_ (external magnetometers have a higher priority than internal magnetometers).
If the primary compass fails in-flight, it will failover to the next one.
If it fails before flight, arming will be denied.
## Supported Compasses
### Compass Parts
PX4 can be used with many magnetometer parts, including: Bosch BMM 150 MEMS (via I2C bus), HMC5883 / HMC5983 (I2C or SPI), IST8310 (I2C), LIS3MDL (I2C or SPI), RM3100, and more.
Other supported magnetometer parts and their busses can be inferred from the drivers listed in [Modules Reference: Magnetometer (Driver)](../modules/modules_driver_magnetometer.md).
These parts are included in stand alone compass modules, combined compass/GNSS modules, and also in many flight controllers,
### Combined GNSS/Compass Modules
See [Global Navigation Satellite Systems (GNSS)](../gps_compass/index.md#supported-gnss) for a list of appropriate modules.
::: info
If GNSS is required, then a combined GNSS/Compass module will be preferred over the stand-alone modules below.
:::
### Stand-Alone Compass Modules
This list contains stand-alone magnetometer modules (without GNSS).
| Device | Compass | DroneCan |
| :--------------------------------------------------------------------------------------------------------------- | :-----: | :------: |
| [Avionics Anonymous UAVCAN Magnetometer](https://www.tindie.com/products/avionicsanonymous/uavcan-magnetometer/) | ? | |
| [Holybro DroneCAN RM3100 Compass/Magnetometer](https://holybro.com/products/dronecan-rm3100-compass) | RM3100 | ✓ |
| [RaccoonLab DroneCAN/Cyphal Magnetometer RM3100](https://holybro.com/products/dronecan-rm3100-compass) | RM3100 | ✓ |
Note:
- ✓ or a specific part number indicate that a features is supported, while ✘ or empty show that the feature is not supported.
"?" indicates "unknown".
- A compass that is not "DroneCAN" can be assumed to be SPI or I2C.
### Internal Compass
Internal compasses are not recommended for real use as a heading source, because the performance is almost always very poor.
This is particularly true on on small vehicles where the flight controller has to be mounted close to motor/ESC power lines and other sources of electromagnetic interference.
While they may be better on larger vehicles (e.g. VTOL), where it is possible to reduce electromagnetic interference by mounting the flight controller a long way from power supply lines, an external compass will almost always be better.
::: tip
They might in theory be used if there is no external magnetometer. but only with [EKF2_MAG_TYPE_INIT = Init (`6`)](../advanced_config/parameter_reference.md#EKF2_MAG_TYPE), and only if their measurements are roughly ok before arming.
:::
Internal compasses are disabled by default if an external compass is available.
## Mounting
[Mounting the Compass](../assembly/mount_gps_compass.md) explains how to mount a compass or GPS/Compass module.
## I2C/SPI Compass Setup
On [Pixhawk Series](../flight_controller/pixhawk_series.md) flight controllers you can connect to either the `GPS1` or `GPS2` ports (which have pins for I2C/SPI).
No further configuration is required.
<!-- On flight controllers that do not follow the Pixhawk connector standard, you will need to connect to an I2C/SPI port. -->
## CAN Compass Setup
[DroneCAN](../dronecan/index.md) covers the setup for DroneCAN peripherals, including compasses.
You will need to connect the compass to the [CAN bus](../can/index.md#wiring), enable DroneCAN, and specifically enable magnetometers (search for `UAVCAN_SUB_MAG`).
## Calibration
[Compass Calibration](../config/compass.md) explains how to calibrate all compasses on the vehicle.
The process is straightforward and will autodetect, [set default rotations](../advanced_config/parameter_reference.md#SENS_MAG_AUTOROT), calibrate, and prioritise, all connected magnetometers.
## See also
- [Compass Power Compensation](../advanced_config/compass_power_compensation.md)
docs/en/gps_compass/rtk_gps.md
+226
View File
@@ -0,0 +1,226 @@
# RTK GNSS (GPS)
[Real Time Kinematic (RTK)](https://en.wikipedia.org/wiki/Real_Time_Kinematic) GNSS/GPS systems provide centimeter-level accuracy, allowing PX4 to be used in applications like precision surveying (where pinpoint accuracy is essential).
This feature requires _QGroundControl_ running on a laptop/PC and a vehicle with a WiFi or Telemetry radio link to the ground station laptop.
::: info
Some RTK GNSS setups can provide yaw/heading information, as an alternative to the compass:
- [RTK GPS Heading with Dual u-blox F9P](../gps_compass/u-blox_f9p_heading.md).
- GPS directly output yaw (see table below).
:::
## Supported Devices
PX4 supports the [u-blox M8P](https://www.u-blox.com/en/product/neo-m8p), [u-blox F9P](https://www.u-blox.com/en/product/zed-f9p-module) and the [Trimble MB-Two](https://www.trimble.com/Precision-GNSS/MB-Two-Board.aspx) GPS, and products that incorporate them.
The RTK compatible devices below that are expected to work with PX4 (it omits discontined devices).
The table indicates devices that also output yaw, and that can provide yaw when two on-vehicle units are used.
It also highlights devices that connect via the CAN bus, and those which support PPK (Post-Processing Kinematic).
Device | GPS | Compass | [DroneCAN](../dronecan/index.md) | [GPS Yaw](#configuring-gps-as-yaw-heading-source) | PPK
:--- | :---: | :---: | :---: | :---: | :---:
[ARK RTK GPS](../dronecan/ark_rtk_gps.md) | F9P | BMM150 | ✓ | [Dual F9P][DualF9P] |
[ARK MOSAIC-X5 RTK GPS](../dronecan/ark_mosaic__rtk_gps.md) | Mosaic-X5 | IIS2MDC | ✓ | [Septentrio Dual Antenna][SeptDualAnt] |
[CUAV C-RTK GPS](../gps_compass/rtk_gps_cuav_c-rtk.md) | M8P/M8N | ✓ | | |
[CUAV C-RTK2](../gps_compass/rtk_gps_cuav_c-rtk2.md) | F9P | ✓ | | [Dual F9P][DualF9P] |
[CUAV C-RTK 9Ps GPS](../gps_compass/rtk_gps_cuav_c-rtk-9ps.md) | F9P | RM3100 | | [Dual F9P][DualF9P] |
[CUAV C-RTK2 PPK/RTK GNSS](../gps_compass/rtk_gps_cuav_c-rtk.md) | F9P | RM3100 | | | ✓
[CubePilot Here+ RTK GPS](../gps_compass/rtk_gps_hex_hereplus.md) | M8P | HMC5983 | | |
[CubePilot Here3 CAN GNSS GPS (M8N)](https://www.cubepilot.org/#/here/here3) | M8P | ICM20948 | ✓ | |
[Drotek SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) | F9P | RM3100 | | [Dual F9P][DualF9P] |
[DATAGNSS GEM1305 RTK Receiver][DATAGNSS GEM1305 RTK] | TAU951M | ✘ | | ✘ |
[Femtones MINI2 Receiver](../gps_compass/rtk_gps_fem_mini2.md) | FB672, FB6A0 | ✓ | | |
[Freefly RTK GPS](../gps_compass/rtk_gps_freefly.md) | F9P | IST8310 | | |
[Holybro H-RTK ZED-F9P RTK Rover (DroneCAN variant)](../dronecan/holybro_h_rtk_zed_f9p_gps.md) | F9P | RM3100 | ✓ | [Dual F9P][DualF9P] |
[Holybro H-RTK ZED-F9P RTK Rover](https://holybro.com/collections/h-rtk-gps/products/h-rtk-zed-f9p-rover) | F9P | RM3100 | | [Dual F9P][DualF9P] |
[Holybro H-RTK F9P Ultralight](https://holybro.com/products/h-rtk-f9p-ultralight) | F9P | IST8310 | | [Dual F9P][DualF9P]|
[Holybro H-RTK F9P Helical or Base](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) | F9P | IST8310 | | [Dual F9P][DualF9P]|
[Holybro DroneCAN H-RTK F9P Helical](https://holybro.com/products/dronecan-h-rtk-f9p-helical) | F9P | BMM150 | ✓ | [Dual F9P][DualF9P] |
[Holybro H-RTK F9P Rover Lite](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) | F9P | IST8310 | | | |
[Holybro DroneCAN H-RTK F9P Rover](https://holybro.com/products/dronecan-h-rtk-f9p-rover) | F9P | BMM150 | | [Dual F9P][DualF9P] |
[Holybro H-RTK M8P GNSS](../gps_compass/rtk_gps_holybro_h-rtk-m8p.md) | M8P | IST8310 | |
[Holybro H-RTK Unicore UM982 GPS](../gps_compass/rtk_gps_holybro_unicore_um982.md) | UM982 | IST8310 | | [Unicore Dual Antenna][UnicoreDualAnt] |
[LOCOSYS Hawk R1](../gps_compass/rtk_gps_locosys_r1.md) | MC-1612-V2b | | | |
[LOCOSYS Hawk R2](../gps_compass/rtk_gps_locosys_r2.md) | MC-1612-V2b | IST8310 | | |
[mRo u-blox ZED-F9 RTK L1/L2 GPS](https://store.mrobotics.io/product-p/m10020d.htm) | F9P | ✓ | | [Dual F9P][DualF9P] |
[Navisys L1/L2 ZED-F9P RTK - Base only](https://www.navisys.com.tw/productdetail?name=GR901&class=RTK) | F9P | | | |
[RaccoonLab L1/L2 ZED-F9P][RaccoonLab L1/L2 ZED-F9P] | F9P | RM3100 | ✓ | | |
[RaccoonLab L1/L2 ZED-F9P with external antenna][RaccnLabL1L2ZED-F9P ext_ant] | F9P | RM3100 | ✓ | |
[Septentrio AsteRx-m3 Pro](../gps_compass/septentrio_asterx-rib.md) | AsteRx | ✓ | | [Septentrio Dual Antenna][SeptDualAnt] | ✓ |
[Septentrio mosaic-go](../gps_compass/septentrio_mosaic-go.md) | mosaic X5 / mosaic H | ✓ | | [Septentrio Dual Antenna][SeptDualAnt] | ✓ |
[SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) | F9P | ✓ | | [Dual F9P][DualF9P] |
[SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/products/15136) | F9P | ✓ | | [Dual F9P][DualF9P] |
[Trimble MB-Two](../gps_compass/rtk_gps_trimble_mb_two.md) | F9P | ✓ | | ✓ | |
<!-- links used in above table -->
[RaccnLabL1L2ZED-F9P ext_ant]: https://docs.raccoonlab.co/guide/gps_mag_baro/gnss_external_antenna_f9p_v320.html
[RaccoonLab L1/L2 ZED-F9P]: https://docs.raccoonlab.co/guide/gps_mag_baro/gps_l1_l2_zed_f9p.html
[DualF9P]: ../gps_compass/u-blox_f9p_heading.md
[SeptDualAnt]: ../gps_compass/septentrio.md#gnss-based-heading
[UnicoreDualAnt]: ../gps_compass/rtk_gps_holybro_unicore_um982.md#enable-gps-heading-yaw
[DATAGNSS GEM1305 RTK]: ../gps_compass/rtk_gps_gem1305.md
Notes:
- ✓ or a specific part number indicate that a features is supported, while ✘ or empty show that the feature is not supported.
"?" indicates "unknown".
- Where possible and relevant the part name is used (i.e. ✓ in the GPS column indicates that a GPS module is present but the part is not known).
- Some RTK modules can only be used in a particular role (base or rover), while others can be used interchangeably.
- The list may omit some discontinued hardware that is still supported.
For example [CubePilot Here+ RTK GPS](../gps_compass/rtk_gps_hex_hereplus.md) is discontinued and may be removed from the list in a future release.
Check earlier versions if a discontinued module is not mentioned here.
## Positioning Setup/Configuration
RTK positioning requires a _pair_ of [RTK GNSS devices](#supported-devices): a "base" for the ground station and a "rover" for the vehicle.
In addition you will need:
- A _laptop/PC_ with QGroundControl (QGroundControl for Android/iOS do not support RTK)
- A vehicle with a WiFi or Telemetry radio link to the laptop.
::: info
_QGroundControl_ with a base module can theoretically enable RTK GPS for multiple vehicles/rover modules.
At time of writing this use case has not been tested.
:::
### Hardware Setup
#### Rover RTK Module (Vehicle)
The connection method and cables/connectors required depends on the selected RTK module (and on the [flight controller](../flight_controller/index.md)).
Most are connected via the flight controller's GPS port, in the same way as any other GPS module.
Some are connected to the [CAN](../can/index.md) bus (i.e. using [DroneCAN](../dronecan/index.md)).
See [documentation for the selected device](#supported-devices), general [GNSS Hardware/Configuration Setup](../gps_compass/index.md#hardware-setup), and [DroneCAN](../dronecan/index.md) for more information on wiring and configuration.
#### Base RTK Module (Ground)
Connect the base module to _QGroundControl_ via USB.
The base module must not be moved while it is being used.
:::tip
Choose a position where the base module won't need to be moved, has a clear view of the sky, and is well separated from any buildings.
Often it is helpful to elevate the base GPS, by using a tripod or mounting it on a roof.
:::
#### Telemetry Radio/WiFi
The vehicle and ground control laptop must be connected via [wifi or a radio telemetry link](../telemetry/index.md).
The link _must_ use the MAVLink 2 protocol as it makes more efficient use of the channel.
This should be set by default, but if not, follow the [MAVLink2 configuration instructions](#mavlink2) below.
### RTK Connection Process
The RTK GPS connection is essentially plug and play:
1. Start _QGroundControl_ and attach the base RTK GPS via USB to the ground station.
The device is recognized automatically.
1. Start the vehicle and make sure it is connected to _QGroundControl_.
:::tip
_QGroundControl_ displays an RTK GPS status icon in the top icon bar while an RTK GPS device is connected (in addition to the normal GPS status icon).
The icon is red while RTK is being set up, and then changes to white once RTK GPS is active.
You can click the icon to see the current state and RTK accuracy.
:::
1. _QGroundControl_ then starts the RTK setup process (known as "Survey-In").
Survey-In is a startup procedure to get an accurate position estimate of the base station.
The process typically takes several minutes (it ends after reaching the minimum time and accuracy specified in the [RTK settings](#rtk-gps-settings)).
You can track the progress by clicking the RTK GPS status icon.
![survey-in](../../assets/qgc/setup/rtk/qgc_rtk_survey-in.png)
1. Once Survey-in completes:
- The RTK GPS icon changes to white and _QGroundControl_ starts to stream position data to the vehicle:
![RTK streaming](../../assets/qgc/setup/rtk/qgc_rtk_streaming.png)
- Vehicle GPS switches to RTK mode.
The new mode is displayed in the _normal_ GPS status icon (`3D RTK GPS Lock`):
![RTK GPS Status](../../assets/qgc/setup/rtk/qgc_rtk_gps_status.png)
### Configuring GPS as Yaw/Heading Source
GPS can be used as a source for yaw fusion when using a single device with two antenna where _yaw output is supported by the device_, or when using some [RTK GPS Setups with Dual u-blox F9P](../gps_compass/u-blox_f9p_heading.md).
Using GPS as a heading source has the benefit that yaw calculations are not impacted by magnetic interference.
Both approaches work comparing the time taken for a GNSS signal to reach two separated antennas.
The minimum distance between antenna depends on the device but is of the order of 50 cm (check manufacturer documentation).
The devices that can be used are listed in this way are listed in the **GPS Yaw** column of the table above, such as [Septentrio AsteRx-m3 Pro](../gps_compass/septentrio_asterx-rib.md), [Holybro H-RTK Unicore UM982 GPS](../gps_compass/rtk_gps_holybro_unicore_um982.md), and [Trimble MB-Two](../gps_compass/rtk_gps_trimble_mb_two.md).
The links in the table take you to the device-specific PX4 configuration.
Generally when using a GNSS as a source of yaw information you will need to configure the following parameters:
| Parameter | Setting |
| -------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [GPS_YAW_OFFSET][GPS_YAW_OFFSET] | The angle made by the _baseline_ (the line between the two GPS antennas) relative to the vehicle x-axis (front/back axis, as shown [here][fc_orientation]). |
| [EKF2_GPS_CTRL][EKF2_GPS_CTRL] | Set bit position 3 "Dual antenna heading" to `1` (i.e. add 8 to the parameter value). |
<!-- links used in table above -->
[GPS_YAW_OFFSET]: ../advanced_config/parameter_reference.md#GPS_YAW_OFFSET
[EKF2_GPS_CTRL]: ../advanced_config/parameter_reference.md#EKF2_GPS_CTRL
[fc_orientation]: ../config/flight_controller_orientation.md#calculating-orientation
:::tip
If using this feature, all other configuration should be setup up as normal (e.g. [RTK Positioning](../gps_compass/rtk_gps.md#positioning-setup-configuration)).
:::
### Optional PX4 Configuration
The following settings may need to be changed (using _QGroundControl_).
#### RTK GPS settings
The RTK GPS settings are specified in the _QGroundControl_ [General Settings](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/settings_view/general.html#rtk_gps) (**SettingsView > General Settings > RTK GPS**).
![RTK GPS Setup](../../assets/qgc/setup/rtk/settings_view_general_rtk_gps.jpg)
These settings define the minimum duration and minimum accuracy for completing the RTK GPS setup process (known as "Survey-In).
:::tip
You can save and reuse a base position in order to save time: perform Survey-In once, select _Use Specified Base Position_ and press **Save Current Base Position** to copy in the values for the last survey.
The values will then persist across QGC reboots until they are changed.
:::
#### MAVLink2
The MAVLink2 protocol must be used because it makes more efficient use of lower-bandwidth channels.
This should be enabled by default on recent builds.
To ensure MAVLink2 is used:
- Update the telemetry module firmware to the latest version (see [QGroundControl > Setup > Firmware](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/firmware.html)).
- Set [MAV_PROTO_VER](../advanced_config/parameter_reference.md#MAV_PROTO_VER) to 2 (see [QGroundControl Setup > Parameters](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/parameters.html))
#### Tuning
You may also need to tune some parameters as the default parameters are tuned assuming a GPS accuracy in the order of meters, not centimeters.
For example, you can decrease [EKF2_GPS_V_NOISE](../advanced_config/parameter_reference.md#EKF2_GPS_V_NOISE) and [EKF2_GPS_P_NOISE](../advanced_config/parameter_reference.md#EKF2_GPS_P_NOISE) to 0.2.
#### Dual Receivers
A second GPS receiver can be used as a backup (either RTK or non RTK).
See the [Using PX4's Navigation Filter (EKF2) > GPS](../advanced_config/tuning_the_ecl_ekf.md#gps) section.
<!--
- Video demonstration would be nice.
- something that shows positioning of base, connection of RTK rover, survey in process. Some sort of short precision survey.
-->
## Further Information
- [RTK-GPS (PX4-Integration)](../advanced/rtk_gps.md): Developer information about integrating RTK-GPS support into PX4.
- [Real Time Kinematic](https://en.wikipedia.org/wiki/Real_Time_Kinematic) (Wikipedia)
docs/en/gps_compass/rtk_gps_cuav_c-rtk-9ps.md
+67
View File
@@ -0,0 +1,67 @@
# CUAV C-RTK 9Ps
The CUAV [C-RTK 9Ps](https://www.cuav.net/en/c_rtk_9ps/) is a multi-satellite, multi-band, centimeter-level, RTK GNSS system.
The module simultaneously receives GPS, GLONASS, Galileo and Beidou satellite signals, enabling faster positioning and higher accuracy.
It also supports [RTK GPS Heading](../gps_compass/u-blox_f9p_heading.md) using dual modules.
Using the C-RTK 9Ps gives PX4 centimeter-level positioning precision.
This is ideal for survey drones, agricultural drones and other application scenarios.
![C-RTK 9Ps](../../assets/hardware/gps/cuav_9ps/c-rtk9s.jpg)
## Where to Buy
[cuav Store](https://store.cuav.net/shop/c-rtk-9ps/)
## Specification
![Specification](../../assets/hardware/gps/cuav_9ps/c-rtk9s-specification.jpg)
## Wiring and Connections
**C-RTK 9Ps (Base)**
![Base module setup](../../assets/hardware/gps/cuav_9ps/c-rtk9ps_base.png)
- Use a tripod to mount the base station's antenna to the top, and connect the antenna to the base station
- Connect the base station and telemetry to the computer with a usb cable.
**C-RTK 9Ps (Rover)**
![Rover mode setup](../../assets/hardware/gps/cuav_9ps/c-rtk9ps-rover.png)
- Mount the C-RTK 9Ps (Rover) antenna vertically.
- Connect the antenna to the C-RTK 9Ps (Rover).
- Connect the C-RTK 9Ps (Rover) to the flight controller.
- Connect telemetry to the flight controller `TELEM1`/`TELEM2` interface
::: info
C-RTK 9Ps come with 6-pin and 10-pin connectors compatible with Pixhawk-standard flight controllers.
Connect to `GPS1` or `GPS2`.
Select the appropriate cable for the flight controller.
:::
## Configuration
RTK setup and use on PX4 via _QGroundControl_ is largely plug and play (see [RTK GPS](../gps_compass/rtk_gps.md) for more information).
## Pinouts
![Pinouts](../../assets/hardware/gps/cuav_9ps/pinouts-en.jpg)
## Physical Dimensions
![Cuav-9ps dimensions](../../assets/hardware/gps/cuav_9ps/c-rtk9ps_dimensions.jpg)
![Base unit antenna: physical dimensions](../../assets/hardware/gps/cuav_9ps/c-rtk9ps_base_unit_antenna_dimensions.jpg)
![Sky unit antenna: physical dimensions](../../assets/hardware/gps/cuav_9ps/c-rtk9ps_sky_unit_antenna_dimensions.jpg)
## Navigation update rates
![Navigation update rate information](../../assets/hardware/gps/cuav_9ps/nav-rate-en.png)
## More information
[CUAV docs](https://doc.cuav.net/gps/c-rtk-series/en/c-rtk-9ps/)
docs/en/gps_compass/rtk_gps_cuav_c-rtk.md
+42
View File
@@ -0,0 +1,42 @@
# CUAV C-RTK
The [CUAV C-RTK GPS receiver](https://www.cuav.net/en/c_rtk_9ps/) is an [RTK GPS module](../gps_compass/rtk_gps.md) for the mass market.
A complete RTK system consists of at least two C-RTK modules \(one for the base station and the others for the aircraft\). Using RTK, PX4 can get its position with centimetre-level accuracy, which is much more accurate than can be provided by a normal GPS.
<img src="../../assets/hardware/gps/rtk_c-rtk.jpg" width="500px" title="C-RTK" />
## Where to Buy
- [cuav taobao](https://item.taobao.com/item.htm?id=565380634341&spm=2014.21600712.0.0)
- [cuav aliexpress](https://www.aliexpress.com/store/product/CUAV-NEW-Flight-Controller-GPS-C-RTK-differential-positioning-navigation-module-GPS-for-PIX4-Pixhawk-pixhack/3257035_32853894248.html?spm=2114.12010608.0.0.75592fadQKPPEn)
## Configuration
RTK setup and use on PX4 via _QGroundControl_ is largely plug and play \(see [RTK GPS](../gps_compass/rtk_gps.md) for more information\).
## Wiring and Connections
C-RTK GPS comes with a cable that terminates in a 6-pin connector and 4-pin connector that are compatible with [Pixhack v3](https://doc.cuav.net/flight-controller/pixhack/en/quick-start-pixhack-v3x.html#gps--compass).
The 6-pin connector provides the interface for RTK GPS, and should be connected to the flight controller's GPS port.
The 4-pin connector is an m8n (standard) GPS interface that is intended for (optional) use as a second GPS.
:::tip
At time of writing PX4 does not yet fully support a second GPS. The 4-pin port need not be connected.
:::
<img src="../../assets/hardware/gps/rtk_cuav_c-rtk_to_6pin_connector.jpg" width="500px" title="C-RTK_6PIN" />
The cables/connectors may need to be modified in order to connect to other flight controller boards. The pin mappings for _Pixhawk 3 Pro_ and _Pixracer_ are shown below.
### Pinout
The C-RTK GPS pinout is provided below. This can be used to help modify the connector for other autopilot boards.
| pin | C-RTK GPS 6P | pin | Pixhawk 3 Pro GPS | C-RTK GPS 4P |
| --- | ------------ | --- | ----------------- | ------------ |
| 1 | SDA | 1 | VCC | |
| 2 | SCL | 2 | GPS_TX | |
| 3 | GPS_RX | 3 | GPS_RX | GPS_RX |
| 4 | GPS_TX | 4 | SCL | GPS_TX |
| 5 | VCC_5V | 5 | SDA | VCC_5v |
| 6 | GND | 6 | GND | GND |
docs/en/gps_compass/rtk_gps_cuav_c-rtk2.md
+113
View File
@@ -0,0 +1,113 @@
# CUAV C-RTK2 GNSS Module (RTK/PPK)
The [CUAV C-RTK2 receiver](https://www.cuav.net/en/c_rtk_9ps/) is a high-performance PPK/RTK positioning module created by CUAV for professional applications such as drone aerial surveying and mapping.
It has a high-precision IMU and positioning module, and can reduce the number of required [control points](https://www.youtube.com/watch?v=3k7v5aXyuKQ) by more than to 80%.
In addition to surveying/mapping, it is suitable for many other use-cases, including: agricultural plant protection and drone swarms.
![C-RTK2](../../assets/hardware/gps/cuav_rtk2/c-rtk2.png)
## Other characteristics
- High-performance H7 processor
- High precision industrial grade IMU
- Support RTK and save RAW raw data (PPK) at the same time
- Multi-satellite and multi-frequency receivers
- UAVCAN/Dronecan protocol
- Support hotshoe and shutter trigger
- HS_USB and U disk mode
## Where to Buy
- [CUAV Store](https://store.cuav.net/shop/c-rtk-2/)
- [CUAV aliexpress](https://pt.aliexpress.com/item/1005003754165772.html?spm=a2g0o.store_pc_groupList.8148356.13.2f893550i0NE4o)
# Quick Summary
- RTK Receiver
- ZED-F9P
- Receiving channel
- 184
- Main FMU Processor
- STM32H743VIH6(2M flash、1M RAM）
- On-board sensors:
- Accelerometer/Gyroscope: ICM20689
- Magnetometer: RM3100
- Barometer: ICP10111
- TF card expansion
- 32G(MAX)
- PPK(post processed kinematic)
- support
- RTK(Real - time kinematic)
- support
- GNSS Bands
- GPS:L1C/A,L2C
- GLONASS:L1OF,L2OF
- GALILEO: E1B/C E5b
- Beidou:B1I B2I
- Enhanced system
- QZSS:L1C/A,L2C,L1S
- SBAS:L1C/A
- Number of concurrent GNSS
- 4(GPS、GLONASS、GALILEO、Beidou）
- Nav. update rate
- RTK Up to 20HZ
- RAW Up to 25hz
- default：5hz
- Convergence time
- RTK < 10 sec
- Position accuracy（RMS)
- RTK:0.01m+1ppm(level);0.02m+1ppm(vertical)
- GPS:1.5m(level)
- Acquisition
- Cold starts 24 s
- Aided starts 2 s
- Reacquisition 2 s
- Sensitivity
- Tracking & Nav –167 dBm
- Cold starts –148 dBm
- Hot starts –157 dBm
- Reacquisition –160 dBm
- Anti-spoofng
- Advanced anti-spoofng algorithms
- Protocols
- NMEA
- UBX binary
- RTCM version 3.x
- Time pulse
- 0.25Hz~10Hz(Configurable)
- Anti-jamming
- Active CW detection and removal Onboard band pass flter
- Support flight control type
- Compatible with flight controllers running PX4 firmware
- interface
- 1 Hotshoe
- 1 shutter in
- 1 sutter out
- 1 Type(HS_USB)
- 1 F9P USB
- 1 F9P UART
- 1 Antenna(mmcx)
- Supply voltage
- 4.5~6v
- Operating temperature
- -20~85℃
- Size
- 56x33x16.5mm
- Weight
- 39g
## Configuration
[CUAV Docs](https://doc.cuav.net/gps/c-rtk2/en/quick-start-c-rtk2.html)
## Pinout
![C-RTK2](../../assets/hardware/gps/cuav_rtk2/c-rtk2_pinouts1.jpg)
![C-RTK2](../../assets/hardware/gps/cuav_rtk2/c-rtk2_pinouts0.jpg)
![C-RTK2](../../assets/hardware/gps/cuav_rtk2/c-rtk2_pinouts2.jpg)
## More information
[CUAV Docs](https://doc.cuav.net/gps/c-rtk-series/en/c-rtk-9ps/)
docs/en/gps_compass/rtk_gps_drotek_xl.md
+8
View File
@@ -0,0 +1,8 @@
# Drotek XL RTK GPS (Discontinued)
::: info
This module appears to have been discontinued, and is no longer on the Drotek site (September 2023).
The last documentation was in [PX4 v1.13 here](https://docs.px4.io/v1.13/en/gps_compass/rtk_gps_drotek_xl.html)
:::
<!-- delete ../../assets/hardware/gps/rtk_base_drotek_xl_rtk_gps.jpg if still present -->
docs/en/gps_compass/rtk_gps_fem_mini2.md
+65
View File
@@ -0,0 +1,65 @@
# Femtones MINI2 Receiver
[MINI2 Receiver](http://www.femtomes.com/#/MiniII?type=0) is an RTK GPS receiver that delivers high-rate and reliable RTK initialization for centimeter level positioning.
It is intended for applications that require high-precision positioning (e.g. navigation and mapping, etc.).
The receiver is connected to PX4 via a serial port (UART) and may be configured over Ethernet using a standard web browser.
![MINI II Receiver](../../assets/hardware/gps/rtk_fem_miniII_receiver.jpg)
::: info
PX4 drivers for Ethernet, CAN and USB are under development.
:::
## Required Firmware Options
The following firmware options need to be selected when buying the device:
- 5Hz, 10Hz, 20Hz
- INS
- HEADING
- OBS
- RTK
- BASE
## Where to Buy
Contact [Femtones](http://www.femtomes.com/) directly for sales quote:
- **Email:** [sales@femtomes.com](mailto:sales@femtomes.com)
- **Telephone:** +86-10-53779838
## Functional Ports
![MINI II 1](../../assets/hardware/gps/rtk_fem_miniII_1.jpg)
## Wiring and Connections
The [MINI2 Receiver](http://www.femtomes.com) is connected to a UART on the flight controller (GPS port) for data.
To power the module you will need a separate 12V power supply.
The pins on the 12-pin connector are numbered as shown below.
![MINI_II_2](../../assets/hardware/gps/rtk_fem_miniII_2.jpg)
## Configuration
For heading estimation the two antennas need to be on the same level and at least 30 cm apart from each other.
The direction that they are facing does not matter as it can be configured with the [GPS_YAW_OFFSET](../advanced_config/parameter_reference.md#GPS_YAW_OFFSET) parameter.
Configure the serial port on which the [MINI2 Receiver](http://www.femtomes.com/#/MiniII?type=0) will run using [GPS_1_CONFIG](../advanced_config/parameter_reference.md#GPS_1_CONFIG), and set the baud rate to 115200 using [SER_GPS1_BAUD](../advanced_config/parameter_reference.md#SER_GPS1_BAUD).
Once configured the receiver is used in the same way as any other [RTK GPS](../gps_compass/rtk_gps.md) (i.e. with respect to the Survey-in process).
## Additional Information
The MINI2 incorporates the following components:
- [FB672](http://www.femtomes.com/#/FB672): Compact, dual antenna, dual frequency GNSS OEM board (delivers centimeter accurate position and precise heading).
![FB672](../../assets/hardware/gps/rtk_fem_fb_1.jpg)
- [FB6A0](http://www.femtomes.com/#/FB6A0): Compact, quadruple frequency GNSS OEM board (delivers centimeter-accurate positioning)
![FB6A0](../../assets/hardware/gps/rtk_fem_fb_2.jpg)
Detailed product instructions can be obtained on the official website or by contacting us.
docs/en/gps_compass/rtk_gps_freefly.md
+87
View File
@@ -0,0 +1,87 @@
# Freefly Systems RTK GPS
The [Freefly Systems RTK GPS Module](https://store.freeflysystems.com/products/rtk-gps-ground-station) is a multiband [RTK GPS module](../gps_compass/rtk_gps.md) from Freefly Systems that provides highly reliable navigation.
The modules can act as either rovers (when installed on an aircraft) or base stations (when plugged into a computer).
Main features include:
- Multiband (L1/L2) receiver (u-blox ZED-F9P)
- Concurrent reception of all 4 GNSS (GPS, Galileo, GLONASS, BeiDou)
- Built-in magnetometer (IST8310), baro (BMP388), RGB LED, safety switch and safety LED
::: info
This module can be used with PX4 v1.9 or above (support for the u-blox ZED-F9P was added in PX4 v1.9).
:::
![FreeFly GPS Module](../../assets/hardware/gps/freefly_gps_module.jpg)
## Where to Buy
- [Freefly Store](https://store.freeflysystems.com/products/rtk-gps-ground-station)
## Kit Contents
An RTK GPS kit includes:
- 2x GPS modules with antennas
- 3m USB C to A cable
- Magnetic quick-mount for base station module (1/4-20 thread for tripod mounting)
- Screws to mount onto a Freefly AltaX
## Configuration
RTK setup and use on PX4 via _QGroundControl_ is largely plug and play (see [RTK GPS](../gps_compass/rtk_gps.md) for more information).
For the aircraft, you should set the parameter [SER_GPS1_BAUD](../advanced_config/parameter_reference.md#SER_GPS1_BAUD) to 115200 8N1 to ensure that PX4 configures the correct baudrate.
## Wiring and Connections
The Freefly RTK GPS comes with an 8 pin JST-GH connector that can be plugged into a PixHawk autopilot.
For use as a base station, the module has a USB-C connector
### Pinout
The Freefly GPS pinout is provided below.
For some autopilots, like the [Hex Cube](../flight_controller/pixhawk-2.md) and [PixRacer](../flight_controller/pixracer.md), all that is needed is a 1-1 8-pin JST-GH cable.
| Pin | Freefly GPS |
| --- | ----------- |
| 1 | VCC_5V |
| 2 | GPS_RX |
| 3 | GPS_TX |
| 4 | I2C_SCL |
| 5 | I2C_SDA |
| 6 | BUTTON |
| 7 | BUTTON_LED |
| 8 | GND |
## Specification
- u-blox ZED-F9P GPS Receiver
- Ultracap backup power for fast (hot-start) restarts
- EMI shield over receiver for improved EMI immunity
- IST8310 Magnetometer
- Safety-switch and safety LED
- RGB LEDs for status indication
- NCP5623CMUTBG I2C Driver
- BMP388 Baro on I2C bus
- External, active antenna (Maxtena M7HCT)
- SMA connector
- STM32 MCU for future CAN-based communication
- FW updates through USB connector
- Connectivity:
- USB-C
- 2-way USB Switch to MCU and F9P
- SMA for active antenna (20mA max)
- 4-pin JST-GH CAN Bus (dronecode compliant)
- 8-pin JST-GH UART/I2C
-\*\* Power:
- Input from either (diode OR'd):
- USB (5V)
- CAN (4.7 to 25.2V)
- (4.7 to 25.2V)
- Power consumption <1W
## More Information
More information can be found on [Freefly's Wiki](https://freefly.gitbook.io/freefly-public/products/rtk-gps)
docs/en/gps_compass/rtk_gps_gem1305.md
+138
View File
@@ -0,0 +1,138 @@
# DATAGNSS GEM1305 RTK Receiver with antenna
GEM1305 is a RTK receiver with antenna designed and manufactured by [DATAGNSS](https://www.datagnss.com/).
GEM1305 is based on the new generation CYNOSURE IV dual-core GNSS SoC.
It supports RTK functionality with a maximum data update rate of 10Hz, and comes with cables for connecting to GPS ports on most Pixhawk devices.
<img src="../../assets/hardware/gps/datagnss_gem1305/datagnss-gem1305-02.png" width="500px" alt="DATAGNSS GEM1305 RTK Receiver">
::: info
- GEM1305 RTK doesn't support moving base mode yet.
- GEM1305 RTK does not include a compass.
:::
## Where to Buy
- [GEM1305 RTK receiver with antenna](https://www.datagnss.com/collections/gnss-for-drone/products/gem1305) (www.datagnss.com)
<img src="../../assets/hardware/gps/datagnss_gem1305/gem1305_hero.png" width="500px" alt="DATAGNSS GEM1305 RTK Receiver">
- [DGM10 RTK Receiver](https://www.datagnss.com/collections/gnss-for-drone/products/dgm10-rtk-receiver) (same receiver in a casing).
![dgm10_rtk_receiver.png](../../assets/hardware/gps/datagnss_gem1305/dgm10_rtk_receiver.png)
## Key Features
- Full constellation, multi-frequency GNSS satellite receiver
- Support RTK with up to 10hz output rate
- Standard UART serial interface
- Lightweight only 50g or 26g(NANO RTK receiver)
- High performance antenna
## Frequencies
- GPS/QZSS: L1 C/A, L5C
- GLONASS: L1OF
- BEIDOU: B1I, B2a
- GALILEO: E1, E5a
- IRNSS: L5
## GNSS
- 128 hardware channels
- 3D accuracy: **1.5m** CEP
- RTK accuracy: **2cm** +1PPM(H), 3cm+1PPM(V)
## Interface
- UART: 230400bps default
- SMA connector for antenna
- Output rate 5Hz default, up to 10Hz
- Main power supply: 4.7~5.2V
## Protocol
- NMEA-0183 output
- RTCMv3 input/output
## Environment
- Operating temp. -20~85°C
## Dimension and Weight
- 55x55x12mm
- 50g (GEM1305) 26g (NANO with Helix)
## Pinout
The board is connected to the autopilot via UART interface.
![GEM1305 connector](../../assets/hardware/gps/datagnss_gem1305/gem1305_connector.png)
The 1.25mm pitch 6P connector (from left: PIN1 to PIN6):
- 1: GND
- 2: NC
- 3: PPS
- 4: Rx
- 5: Tx
- 6: 5V
The board does not include a compass and so does not require connections for a compass part.
## Hardware Setup
RTK requires a base RTK module attached to the ground station, and a rover RTK module on the vehicle.
The data from the base needs to be transmitted to the drone via telemetry radio and inputed into the RTK receiver on the rover.
![RTK setup overview](../../assets/hardware/gps/datagnss_gem1305/setup_overview.png)
The setup/connections for base and rover modules are shown below.
### Base Setup (GCS)
The base station connections are shown in the diagram below, along with the connection to a telemetry radio.
![Base module setup](../../assets/hardware/gps/datagnss_gem1305/base_gnss_setup.png)
Note that for the base we recommend the [NANO RTK Receiver](https://www.datagnss.com/collections/gnss-for-drone/products/multi-band-rtk-receiver-package) because it is easier to setup.
<img src="../../assets/hardware/gps/datagnss_gem1305/nano_rtk_with_case.png" width="500px" alt="DATAGNSS NANO RTK Receiver">
See to [How to setup Base station](https://wiki.datagnss.com/index.php/GEM1305-autopilot#Base_station_setup) for information on how to configure the module for use as a base station (not including step 6 and later, for which you would QGroundControl instead of Mission Planner).
### Rover Setup (PX4)
The rover setup showing connections to a GPS port and the (required) connection to a telemetry radio are shown in the diagram below.
![Rover module and pixhawk big picture connections](../../assets/hardware/gps/datagnss_gem1305/rover_gnss_setup.png)
The diagram below shows the wiring from the `GPS2` port on the Pixhawk 6c flight controller.
Note that an appropriate cable is supplied for this purpose.
![Rover module setup](../../assets/hardware/gps/datagnss_gem1305/pixhawk_connections.png)
GPS and RTK configuration on PX4 via _QGroundControl_ is plug and play (see [RTK GPS](../gps_compass/rtk_gps.md) for more information).
## Package List
- GEM1305 RTK Receiver
- DG-6P-C01, GH-1.25mm-6P cable
## Resources
- [GEM1305 2D drawing file](https://wiki.datagnss.com/index.php/GEM1305)
- [NANO RTK Receiver 2D drawing file](https://wiki.datagnss.com/images/3/31/EVK-DG-1206_V.2.0.pdf)
- [GEM1305 Wiki](https://wiki.datagnss.com/index.php/GEM1305) (DATAGNSS WiKi)
- [HED-10L Heading RTK Receiver](https://wiki.datagnss.com/index.php/HED-10L)
## More information
- [NANO RTK Receiver](https://www.datagnss.com/collections/evk/products/tau951m-1312-tiny-evk)
- [HELIX Antenna for RTK](https://www.datagnss.com/collections/rtk-antenna/products/smart-helix-antenna)
- [RTK Antenna AGR6302G](https://www.datagnss.com/collections/rtk-antenna/products/antenna-agr6302g)
- [AT400 RTK Antenna](https://www.datagnss.com/collections/rtk-antenna/products/at400-multi-band-antenna-for-rtk)
docs/en/gps_compass/rtk_gps_hex_hereplus.md
+13
View File
@@ -0,0 +1,13 @@
# HEX/ProfiCNC Here+ RTK GPS (Discontinued)
<Badge type="info" text="Discontinued" />
::: info
This GPS is no longer available for purchase but is still compatible with PX4.
Usage documentation can be found in [PX4v1.11 docs](https://docs.px4.io/v1.11/en/gps_compass/rtk_gps_hex_hereplus.html)
:::
The **Here+ RTK GPS receiver** is a small, light and energy efficient [RTK GPS module](../gps_compass/rtk_gps.md), based on the u-blox M8P. Using RTK, PX4 can get its position with centimetre-level accuracy, which is much more accurate than can be provided by a normal GPS.
<img src="../../assets/hardware/gps/rtk_here_plus.jpg" />
docs/en/gps_compass/rtk_gps_holybro_h-rtk-f9p.md
+55
View File
@@ -0,0 +1,55 @@
# Holybro H-RTK F9P GNSS
::: tip
[Holybro H-RTK ZED-F9P Rover](../dronecan/holybro_h_rtk_zed_f9p_gps.md) is an upgraded version of this module.
:::
The [Holybro H-RTK F9P GNSS](https://holybro.com/products/h-rtk-f9p-gnss-series) is an multi-band high-precision [RTK GNSS System](../gps_compass/rtk_gps.md) series launched by Holybro.
This family is similar to the [H-RTK M8P](../gps_compass/rtk_gps_holybro_h-rtk-m8p.md) series, but uses multi-band RTK with faster convergence times and reliable performance, concurrent reception of GPS, GLONASS, Galileo and BeiDou, and faster update rate for highly dynamic and high volume applications with centimeter-accuracy.
It uses a u-blox F9P module, a IST8310 compass, and a tri-colored LED indicator.
It also has an integrated safety switch for a simple and convenient operation.
There are three models of Holybro H-RTK F9P to choose from, each with different antenna design to meet different needs.
Refer to [Specification and Model Comparison section](#specification-and-model-comparison) for more details.
Using RTK allows PX4 to get its position with centimetre-level accuracy, which is much more accurate than can be provided by a normal GPS.
![h-rtk](../../assets/hardware/gps/rtk_holybro_h-rtk-f9p_all_label.jpg)
## Where to Buy
- [H-RTK F9P (Holybro Website)](https://holybro.com/products/h-rtk-f9p-gnss-series)
- [H-RTK Accessories (Holybro Website)](https://holybro.com/collections/h-rtk-gps)
## Configuration
RTK setup and use on PX4 via _QGroundControl_ is largely plug and play \(see [RTK GPS](../gps_compass/rtk_gps.md) for more information\).
## Wiring and Connections
H-RTK Helical models come with both GH 10-pin & 6-pin cables that are compatible with the GPS1 & GPS2 ports on flight controllers that use the Pixhawk Connector Standard, such as [Pixhawk 4](../flight_controller/pixhawk4.md) and [Pixhawk 5x](../flight_controller/pixhawk5x.md).
The H-RTK Rover Lite comes in two version.
The standard version comes with 10 pin connector for the `GPS1` port.
The "2nd GPS" version comes with 6 pin connector for the `GPS2` port.
This is used as a secondary GPS for [Dual GPS Systems](../gps_compass/index.md#dual_gps).
::: info
The cables/connectors may need to be modified in order to connect to other flight controller boards (see [Pin Map](#pin-map) below).
:::
## Pin Map
![h-rtk-f9p_rover_pinmap](../../assets/hardware/gps/rtk_holybro_h-rtk_helical_pinmap.jpg)
![h-rtk-f9p_helical_pinmap](../../assets/hardware/gps/rtk_holybro_h-rtk_rover_lite_pinmap.jpg)
## Specification and Model Comparison
![h-rtk-f9p_spec](../../assets/hardware/gps/rtk_holybro_h-rtk-f9p_spec.png)
## GPS Accessories
[H-RTK Mount (Holybro Website)](https://holybro.com/products/vertical-mount-for-h-rtk-helical)
![h-rtk](../../assets/hardware/gps/rtk_holybro_h-rtk_mount_3.png)
docs/en/gps_compass/rtk_gps_holybro_h-rtk-m8p.md
+47
View File
@@ -0,0 +1,47 @@
# Holybro H-RTK M8P GNSS (Discontinued)
:::warning
This GNSS has been discontinued, and is no longer commercially available.
:::
The [Holybro H-RTK M8P GNSS](https://holybro.com/collections/standard-h-rtk-series/products/h-rtk-m8p-gnss-series) is an [RTK GNSS module](../gps_compass/rtk_gps.md) series for the mass market.
This family is similar to the [H-RTK M9P](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) series but uses the smaller, lighter, and less expensive M8P u-blox RTK GNSS module (which still provides far superior position resolution than previous generations\_.
There are three models of Holybro H-RTK M8P to choose from, each with different antenna design to meet different needs.
Refer to the [Specification and Model Comparison section](#specification-and-model-comparison) for more details.
Using RTK allows PX4 to get its position with centimeter-level accuracy, which is much more accurate than can be provided by a normal GPS.
![h-rtk_rover](../../assets/hardware/gps/rtk_holybro_h-rtk-m8p_all_label.jpg)
## Where to Buy
- [H-RTK M8P (GPS RTK Mounts)](https://holybro.com/products/vertical-mount-for-h-rtk-helical)
## Configuration
RTK setup and use on PX4 via _QGroundControl_ is largely plug and play \(see [RTK GPS](../gps_compass/rtk_gps.md) for more information\).
## Wiring and Connections
All H-RTK GNSS models come with a GH 10-pin connector/cable that is compatible with [Pixhawk 4](../flight_controller/pixhawk4.md).
::: info
The cables/connectors may need to be modified in order to connect to other flight controller boards (see [pin map](#pin_map)below).
:::
<a id="pin_map"></a>
## Pin Map
![h-rtk_rover_pinmap](../../assets/hardware/gps/rtk_holybro_h-rtk-m8p_pinmap.jpg)
## Specification and Model Comparison
![h-rtk_spec](../../assets/hardware/gps/rtk_holybro_h-rtk-m8p_spec.png)
## GPS Accessories
[GPS Accessories (Holybro Website)](https://holybro.com/collections/gps-accessories)
![h-rtk](../../assets/hardware/gps/rtk_holybro_h-rtk_mount_3.png)
docs/en/gps_compass/rtk_gps_holybro_unicore_um982.md
+62
View File
@@ -0,0 +1,62 @@
# Holybro H-RTK Unicore UM982 GPS
The [Holybro H-RTK Unicore UM982 GPS](https://holybro.com/products/h-rtk-um982) is an multi-band high-precision [RTK GNSS System](../gps_compass/rtk_gps.md) launched by Holybro.
![HB-pmw3901-1](../../assets/hardware/gps/holybro-unicore-um982/holybro-unicore-um982-1.jpg)
This module is based on the [Unicore UM982 Chip](https://en.unicorecomm.com/products/detail/24), which supports RTK positioning and dual-antenna heading calculation.
This means that it can generate a moving baseline headline/yaw determinations for autopilots with just one GPS module and dual antennas - a magnetometer is not needed.
Unlike when using a module such as the U-blox F9P, where you would need [two U-blox F9P modules to compute a heading angle](../gps_compass/u-blox_f9p_heading.md), with the Unicore UM982 GPS, you only need one GPS module!
Using this GPS as a yaw source, instead of a compass, prevents magnetic interference from causing incorrect yaw reports to the autopilot (compasses are commonly affected by the vehicle motors and electrical systems, and other environmental interference sources such as metallic structures or equipment).
This works even if the GPSs are not receiving RTCM data from a fixed RTK station or NTRIP server.
It supports RTK positioning adjustment for centimeter-level accuracy, GPS/GLONASS,Beidou, Galileo, and QZSS global positioning systems.
The module also includes a magnetometer, LED, and safety switch button.
It also serves as an RTK-corrected vehicle GPS, with or without moving baseline yaw determination, and as a base station GPS for sending RTCM data to a ground control station to provide an RTK source for the vehicle via telemetry.
Additional technical information can be found at [Holybro Technical Documentation page](https://docs.holybro.com/gps-and-rtk-system/h-rtk-unicore-um982)
## Where to Buy
- [Holybro Website](https://holybro.com/products/h-rtk-um982)
## Wiring
The module comes with both GH 10-pin & 6-pin cables that are compatible with the GPS1 & GPS2 ports on flight controllers that use the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf), such as [Pixhawk 6x](../flight_controller/pixhawk6x.md) and [Pixhawk 6c](../flight_controller/pixhawk6c.md).
It can also be used with Cubepilot Flight Controller.
The 10Pin - 6Pin cable allows users to connect the UM982 to `GPS2` port on Cubepilot and Holybro Autopilots.
The module can be used with one antenna or both antennas.
If it is used with only one antenna, the right/primary antenna connector must be connected.
## PX4 Configuration
### Port Setup
The Unicore module talks the NMEA protocol extended with some proprietary Unicore sentences.
The serial baudrate is 230400.
The following PX4 parameters [must be set](../advanced_config/parameters.md):
- [SER_GPS1_BAUD](../advanced_config/parameter_reference.md#SER_GPS1_BAUD) -> 230400
- [GPS_1_PROTOCOL](../advanced_config/parameter_reference.md#GPS_1_PROTOCOL) -> 6: NMEA
Note, the above parameters assume you are connected to `GPS 1`.
If you are using another port you will have to use its parameters to configure the baud rate and protocol.
### Enable GPS Heading/Yaw
The Unicore module comes with two antennas, a primary (right connector) and a secondary (left connector) antenna, which can be used to get yaw from GPS.
You will need to set the following parameters:
- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): Set bit 3 (8) to enable dual antenna heading into the yaw estimation.
- [GPS_YAW_OFFSET](../advanced_config/parameter_reference.md#GPS_YAW_OFFSET): Set heading offset to 0 if the primary antenna is in the front.
The angle increases clock-wise, so set the offset to 90 degrees if the primary antenna is on the right side of the vehicle (and the secondary on the left side).
### RTK Corrections
RTK works the same way as uBlox F9P modules.
RTCMv3 corrections as sent by QGroundControl from an RTK GPS base station are consumed by the Unicore module, which should then change fix type to `RTK float` or `RTK fixed`.
docs/en/gps_compass/rtk_gps_locosys_r1.md
+108
View File
@@ -0,0 +1,108 @@
# LOCOSYS Hawk R1 RTK GPS
<Badge type="tip" text="PX4 v1.13" />
The [LOCOSYS Hawk R1](https://www.locosystech.com/en/product/hawk-r1.html) is a dual-frequency [RTK GPS module](../gps_compass/rtk_gps.md) receiver designed for compatibility with Pixhawk.
The module can act as an RTK GPS rover when installed on the aircraft.
The receiver is capable of concurrently tracking all global civil navigation systems, including GPS, GLONASS, GALILEO, BEIDOU and QZSS.
It acquires both L1 and L5 signals at the same time while providing the centimeter-level RTK positioning accuracy.
The built-in lightweight helical antenna enhances RTK positioning stability.
The fast time-to-first-fix, RTK convergence, superior sensitivity, low power consumption make it a better choice for Pixhawk-based platform UAVs.
::: info
This module does not have a compass.
For an equivalent GPS module with a compass try: [LOCOSYS Hawk R2](../gps_compass/rtk_gps_locosys_r2.md).
:::
## Main Features
- Concurrent reception of L1 and L5 band signals
- Support GPS, GLONASS, BEIDOU, GALILEO, QZSS
- Capable of SBAS (WAAS, EGNOS, MSAS, GAGAN)
- Support 135-channel GNSS
- Fast TTFF at low signal level
- Free hybrid ephemeris prediction to achieve faster cold start
- Default 5Hz, up to 10 Hz update rate (SBAS support 5Hz only).
- Build-in super capacitor to reserve system data for rapid satellite acquisition
![LOCOSYS Hawk R1](../../assets/hardware/gps/locosys_hawk_a1/locosys_hawk_a1_gps.png)
## Where to Buy
- [LOCOSYS Hawk R1](https://www.locosystech.com/en/product/hawk-r1.html)
## Kit Contents
An RTK GPS kit includes:
- 1x GPS Module
- 1x Helix antenna
- 1x 6-pin JST-GH
## Configuration
RTK setup and use on PX4 via _QGroundControl_ is largely plug and play (see [RTK GPS](../gps_compass/rtk_gps.md) for more information).
Connect your Hawk R1 to the `GPS2` port on compatible Pixhawk boards (preferred, though you can use any other unused UART port).
For the aircraft, you should set the parameter [SER_GPS2_BAUD](../advanced_config/parameter_reference.md#SER_GPS1_BAUD) to 230400 8N1 to ensure that PX4 configures the correct baudrate.
## Wiring and Connections
Hawk R1 RTK GPS comes with an 6 pin JST-GH connector that can be plugged into a Pixhawk autopilot.
### Pinout
LOCOSYS GPS pinout is provided below.
| Pin | Hawk R1 GPS |
| --- | ----------- |
| 1 | VCC_5V |
| 2 | GPS_RX |
| 3 | GPS_TX |
| 4 | Null |
| 5 | Null |
| 6 | Null |
| 7 | Null |
| 8 | Null |
| 9 | GND |
## Status LEDs
| Color | Name | Description |
| ----- | --------------- | ---------------------------------- |
| Green | TX Indicator | GNSS Data transmission |
| Red | Power Indicator | Power |
| Blue | PPS | Precise Positioning Service active |
![Hawk A1 LEDs](../../assets/hardware/gps/locosys_hawk_a1/locosys_hawk_a1_leds.png)
## Specification
- Frequency
- GPS/QZSS: L1 C/A, L5C
- GLONASS: L1OF
- BEIDOU: B1I, B2a
- GALILEO: E1, E5a
- 135 Channels support
- Up to 10 Hz update rate (default to 5Hz)
- Acquisition Time
- Hot start (Open Sky) in 2 seconds
- Cold Start (Open Sky) in 28 seconds without AGPS
- PPS with 100ms pulse width, 1.8Vdc
- External, active Helix antenna
- SMA connector
- UBlox Protocol Support
- U5Hz:UBX-NAV-PVT,UBX-NAV-DOP
- 1Hz: UBX-NAV-TIMEGPS
- Connectivity:
- 6-pin JST-GH UART/I2C (Pixhawk compatible)
- Power:
- DC supply voltage 3.3V ~ 5.0V input
- Power consumption <1W
## More Information
More information can be found on [LOCOSYS Hawk R1](https://www.locosystech.com/en/product/hawk-r1.html)
docs/en/gps_compass/rtk_gps_locosys_r2.md
+114
View File
@@ -0,0 +1,114 @@
# LOCOSYS Hawk R2 RTK-Compass GPS
<Badge type="tip" text="PX4 v1.13" />
The [LOCOSYS Hawk R2](https://www.locosystech.com/en/product/hawk-r2.html) is a dual-frequency [RTK GPS module](../gps_compass/rtk_gps.md) receiver designed for compatibility with Pixhawk. The only difference between this module and the [LOCOSYS Hawk R1](rtk_gps_locosys_r1.md) is the presence of a magnetometer on Hawk R2.
The module can act as an RTK GPS rover when installed on the aircraft.
The receiver is capable of concurrently tracking all global civil navigation systems, including GPS, GLONASS, GALILEO, BEIDOU and QZSS.
It acquires both L1 and L5 signals at the same time while providing the centimeter-level RTK positioning accuracy.
The built-in lightweight helical antenna enhances RTK positioning stability. Additionally, it is equipped with a compass.
The fast time-to-first-fix, RTK convergence, superior sensitivity, low power consumption make it a better choice for Pixhawk-based platform UAVs.
## Main Features
- Centimeter-level RTK high position accuracy+ integrated 3-axis magnetometer
- Concurrent reception of L1 and L5 band signals
- Support GPS, GLONASS, BEIDOU, GALILEO, QZSS
- Capable of SBAS (WAAS, EGNOS, MSAS, GAGAN)
- Support 135-channel GNSS
- Fast TTFF at low signal level
- Free hybrid ephemeris prediction to achieve faster cold start
- Default 5Hz, up to 10 Hz update rate (SBAS support 5Hz only)
- Build-in super capacitor to reserve system data for rapid satellite acquisition
- Build-in 3 axis compass function
- Three LED indicator for Power, PPS and Data transmit
![LOCOSYS Hawk R2](../../assets/hardware/gps/locosys_hawk_a1/locosys_hawk_a1_gps.png)
## Where to Buy
- [LOCOSYS Hawk R2](https://www.locosystech.com/en/product/hawk-r2.html)
## Kit Contents
An RTK GPS kit includes:
- 1x GPS Module
- 1x Helix antenna
- 1x 6-pin JST-ready cable
## Wiring and Connections
Hawk R2 RTK GPS comes with an 6 pin JST connector that can be plugged into the GPS2 port on Pixhawk-standard autopilots.
![LOCOSYS Hawk R2 cable for connecting to flight controller](../../assets/hardware/gps/locosys_hawk_r2/locosys_hawk_r2_jst6_cable.jpg)
It can also be used on other UART ports, but you would need to connect and configure the port used.
The pinout below is provided in case you need to create a custom cable.
### Pinout
LOCOSYS GPS pinout is provided below.
| Pin | Hawk R2 GPS |
| --- | ----------- |
| 1 | VCC_5V |
| 2 | GPS_RX |
| 3 | GPS_TX |
| 4 | GNSS_PPS |
| 5 | Null |
| 6 | Null |
| 7 | I2C_CLK |
| 8 | I2C_DAT |
| 9 | GND |
## PX4 Configuration
After connecting your Hawk R2 to the `GPS2` port on compatible Pixhawk boards, RTK setup and use on PX4 via _QGroundControl_ is largely plug and play.
For more information see: [RTK GPS](../gps_compass/rtk_gps.md#positioning-setup-configuration).
You should also configure the serial port you are using to the correct baud rate.
If you're using GPS2, set the parameter [SER_GPS2_BAUD](../advanced_config/parameter_reference.md#SER_GPS2_BAUD) to 230400 8N1.
The compass only requires the usual [Compass Calibration](../config/compass.md).
## Status LEDs
| Color | Name | Description |
| ----- | --------------- | ---------------------------------- |
| Green | TX Indicator | GNSS Data transmission |
| Red | Power Indicator | Power |
| Blue | PPS | Precise Positioning Service active |
![Hawk A1 LEDs](../../assets/hardware/gps/locosys_hawk_a1/locosys_hawk_a1_leds.png)
## Specification
- Frequency
- GPS/QZSS: L1 C/A, L5C
- GLONASS: L1OF
- BEIDOU: B1I, B2a
- GALILEO: E1, E5a
- 135 Channels support
- Up to 10 Hz update rate (default to 5Hz)
- Acquisition Time
- Hot start (Open Sky) in 2 seconds
- Cold Start (Open Sky) in 28 seconds without AGPS
- PPS with 100ms pulse width, 1.8Vdc
- External, active Helix antenna
- SMA connector
- UBlox Protocol Support
- U5Hz:UBX-NAV-PVT,UBX-NAV-DOP
- 1Hz: UBX-NAV-TIMEGPS
- Connectivity:
- 6-pin JST-GH UART/I2C (Pixhawk compatible)
- Power:
- DC supply voltage 3.3V ~ 5.0V input
- Power consumption <1W
## More Information
More information can be found on [LOCOSYS Hawk R2](https://www.locosystech.com/en/product/hawk-r2.html)
docs/en/gps_compass/rtk_gps_trimble_mb_two.md
+68
View File
@@ -0,0 +1,68 @@
# Trimble MB-Two
The [Trimble MB-Two RTK GPS receiver](https://www.trimble.com/Precision-GNSS/MB-Two-Board.aspx) is a high-end, dual-frequency [RTK GPS module](../gps_compass/rtk_gps.md) that can be configured as either base or rover.
In addition to providing precise position information, the MB-Two can estimate heading angle (it has dual-antenna support). This is useful for situations where a compass cannot provide reliable heading information, for example when flying close to metal constructs.
![MB-Two Hero image](../../assets/hardware/gps/rtk_trimble_two_gnss_hero.jpg)
## Required Firmware Options
The following firmware options need to be selected when buying the device:
- \[X\] \[2\] \[N\] \[G\] \[W\] \[Y\] \[J\] for 20Hz position updates and RTK support, 1cm horizontal and 2cm vertical position accuracy
- \[L\] LBAND
- \[D\] DUO - Dual Antenna Heading
- \[B\] BEIDOU + \[O\] GALILEO, if needed
## Antennas and Cable
The Trimble MB-Two requires two dual-frequency (L1/L2) antennas.
A good example is the [Maxtenna M1227HCT-A2-SMA](http://www.maxtena.com/products/helicore/m1227hct-a2-sma/)
(which can be bought, for instance, from [Farnell](https://uk.farnell.com/maxtena/m1227hct-a2-sma/antenna-1-217-1-25-1-565-1-61ghz/dp/2484959)).
The antenna connector type on the device is MMCX.
Suitable cables for the above antennas (SMA connector) can be found here:
- [30 cm version](https://www.digikey.com/products/en?mpart=415-0073-012&v=24)
- [45 cm version](https://www.digikey.com/products/en?mpart=415-0073-018&v=24)
## Wiring and Connections
The Trimble MB-Two is connected to a UART on the flight controller (GPS port) for data.
To power the module you will need a separate 3.3V power supply (the maximum consumption is 360mA).
::: info
The module cannot be powered from a Pixhawk.
:::
The pins on the 28-pin connector are numbered as shown below:
![MB-Two Pinout](../../assets/hardware/gps/rtk_trimble_two_gnss_pinouts.jpg)
| Pin | Name | Description |
| --- | -------- | ---------------------------------------------------- |
| 6 | Vcc 3.3V | Power supply |
| 14 | GND | Connect to power the supply and GND of the Autopilot |
| 15 | TXD1 | Connect to RX of the Autopilot |
| 16 | RXD1 | Connect to TX of the Autopilot |
## Configuration
First set the GPS protocol to Trimble ([GPS_x_PROTOCOL=3](../advanced_config/parameter_reference.md#GPS_1_PROTOCOL)).
For heading estimation the two antennas need to be on the same level and at least 30 cm apart from each other.
The direction that they are facing does not matter as it can be configured with the [GPS_YAW_OFFSET](../advanced_config/parameter_reference.md#GPS_YAW_OFFSET) parameter.
::: info
The `GPS_YAW_OFFSET` is the angle made by the _baseline_ (the line between the two GPS antennas) relative to the vehicle x-axis (front/back axis, as shown [here](../config/flight_controller_orientation.md#calculating-orientation)).
:::
[Configure the serial port](../peripherals/serial_configuration.md) on which the Trimple will run using [GPS_1_CONFIG](../advanced_config/parameter_reference.md#GPS_1_CONFIG), and set the baud rate to 115200 using [SER_GPS1_BAUD](../advanced_config/parameter_reference.md#SER_GPS1_BAUD).
To activate heading fusion for the attitude estimation, set the [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) parameter to enable _Dual antenna heading_.
::: info
See also: [GPS > Configuration > GPS as Yaw/Heading Source](../gps_compass/index.md#configuring-gps-as-yaw-heading-source)
:::
docs/en/gps_compass/septentrio.md
+188
View File
@@ -0,0 +1,188 @@
# Septentrio GNSS Receivers
PX4 supports Septentrio GNSS receivers based on the mosaic-X5 and mosaic-H receiver modules.
It has [parameterized](../advanced_config/parameter_reference.md#septentrio) automatic configuration to fit different use cases.
The output is processed by the Septentrio driver in PX4 and made available to the rest of the system like the MAVLink and EKF modules.
Certain receivers are recommended for autopilot applications because of their physical or technical properties, including:
- [AsteRx-m3 Pro](../gps_compass/septentrio_asterx-rib.md)
Dual-antenna, ultra-low-power GNSS rover receiver with support for heading.
- [AsteRx-m3 Pro+](https://www.septentrio.com/en/products/gps/gnss-boards/asterx-m3-pro-plus)
Dual-antenna, ultra-low-power versatile GNSS rover and base receiver with support for heading.
- [mosaic-go](../gps_compass/septentrio_mosaic-go.md)
Single-antenna evaluation kit with support for L5 frequency band, based on the mosaic-X5 GNSS
receiver module.
- [mosaic-go heading](https://www.septentrio.com/en/products/gps/gnss-receiver-modules/mosaic-h-evaluation-kit)
Dual-antenna evaluation kit with support for heading, based on the mosaic-H GNSS receiver module.
## Supported Features
- RTK positioning using corrections over MAVLink from a ground control station
- Dual-antenna heading with mosaic-H-based receivers
- Moving base heading with two single-antenna receivers
- SBF logging to internal storage on the receiver
- Logging of all communication with the receiver to internal storage on the flight controller
- Automatic baud rate and port detection
- Automatic, parameterized configuration for all features
- Status and health monitoring from a MAVLink console
## Quick Start
For the physical connection between Septentrio GNSS receivers and flight controllers, have a look at the hardware-specific guides for [mosaic-go receivers](septentrio_mosaic-go.md) and [AsteRx-m3 receivers with a robotics interface board](../gps_compass/septentrio_asterx-rib.md).
A few things are required for PX4 to support Septentrio receivers.
First of all, the firmware you load on your flight controller needs to contain the Septentrio driver.
This should be the case for most flight controller boards from PX4 v1.15.
You can confirm this by opening _QGroundControl_, connecting to the flight controller running the firmware you want to use, and checking whether the `Septentrio` parameter group is available in the parameter configuration screen.
![Septentrio Driver Parameters](../../assets/hardware/gps/septentrio_sbf/septentrio_driver_parameters.png)
::: tip
If you don't see the `Septentrio` parameter group, then you will need to set `CONFIG_DRIVERS_GNSS_SEPTENTRIO=y` in your [PX4 Board Configuration (Kconfig)](../hardware/porting_guide_config.md).
:::
Next you need to tell PX4 which serial port the receiver is connected to.
The serial port name is usually indicated by a label above the port on the flight controller.
If you plugged in the receiver into the port labeled `GPS 1` or `GPS & SAFETY`, you need to set the [SEP_PORT1_CFG](../advanced_config/parameter_reference.md#SEP_PORT1_CFG) parameter to `GPS 1`.
You also need to make sure no other driver is [configured to use this serial port](../peripherals/serial_configuration.md).
::: warning
By default, the `GPS` module will be configured to use the `GPS 1` port.
Make sure to set `GPS_1_CONFIG` to `Disabled`.
:::
PX4 should then automatically configure the connected receiver(s), after which the position will become visible in _QGroundControl_ and its GPS icon will display general status information.
Note that you can also use a secondary Septentrio GNSS module, which is configured in a similar way.
It is common to connect a second module to the port labeled `GPS 2`
The port is configured using the [SEP_PORT2_CFG](../advanced_config/parameter_reference.md#SEP_PORT2_CFG) parameter.
## Serial Configuration
Septentrio GNSS receivers make use of a serial connection to the autopilot.
There are two types of parameters available to configure this connection.
First there are the parameters under the `Septentrio` group in QGC, which can be used to select the physical port the receiver is connected to.
If for example one receiver is connected to the port labelled "GPS 2", then you need to set `SEP_PORT1_CFG` to `GPS 2`, meaning the main receiver (hence the 1 in `SEP_PORT1_CFG`) is connected to the secondary GPS port (`GPS 2`).
The baud rate used for the serial connection is also configurable.
It can be set to any of baud rates supported by Septentrio GNSS receivers.
The driver will always detect the baud rate of the receiver and if a baud rate is set, it will configure the receiver to use this one.
If none is set, the driver will use the current baud rate of the receiver.
Higher values make for a faster connection, but may fail if there is lots of interference or the cabling is of poor quality.
Using other baud rates will not work and the driver will fall back to a default of `230400`.
When using RTK positioning or higher receiver output rates, values above `460800` are recommended.
The recommended rates are:
- `57600`
- `115200`
- `230400`
- `460800`
- `921600`
::: info
Baud rates of `500000`, `576000`, `1000000`,`1500000` are also supported by the driver, but are non-standard and should be avoided.
:::
## Automatic Configuration
Normally the driver automatically configures the connected receivers as long as the ports have been set correctly.
Some users may wish to perform additional changes to their configuration, in which case you will need to change the [SEP_AUTO_CONFIG](../advanced_config/parameter_reference.md#SEP_AUTO_CONFIG) parameter to disable automatic configuration.
Note that the driver always detects the baud rate and receiver port to ensure correct operation, and will do so regardless of whether automatic configuration is disabled.
Many [other parameters](../advanced_config/parameter_reference.md#septentrio) are available to change how the receiver is configured. [SEP_CONST_USAGE](../advanced_config/parameter_reference.md#SEP_CONST_USAGE) can be used to choose which constellations to include/exclude from PVT computation. [SEP_OUTP_HZ](../advanced_config/parameter_reference.md#SEP_OUTP_HZ) changes the frequency of PVT data output to the flight controller.
[SEP_STREAM_MAIN](../advanced_config/parameter_reference.md#SEP_STREAM_MAIN) and [SEP_STREAM_LOG](../advanced_config/parameter_reference.md#SEP_STREAM_LOG) change which streams are used for the main and logging output from the receiver.
These can be changed when you already use the default streams for other purposes.
Make sure to use two different streams. Using the same one for both will prevent logging from starting correctly.
## GNSS-Based Heading
Heading determines the orientation of the vehicle. GNSS-based heading allows for heading without relying on an internal compass, which might encounter interference from the motors and other factors on a vehicle.
There are two ways to use Septentrio GNSS receivers for GNSS-based heading.
The first is to use a receiver based on the mosaic-H receiver module, like the mosaic-go heading, AsteRx-m3 Pro and AsteRx-m3 Pro+.
Heading will work automatically when one of these is connected and has two antennas attached.
The other is to use two separate receivers attached to two ports, each with one antenna.
In that case the [SEP_HARDW_SETUP](../advanced_config/parameter_reference.md#SEP_HARDW_SETUP) parameter has to be set to `Moving base` and the main receiver (set by `SEP_PORT1_CFG`) will act as the rover.
To switch rover and base in the moving base setup, switch `SEP_PORT1_CFG` and `SEP_PORT2_CFG` or physically swap the connected receivers.
It is important that the antennas are positioned at least 30 cm apart for a stable heading result.
In a normal setup, the main antenna is behind the auxiliary one.
If another setup is used, the [SEP_YAW_OFFS](../advanced_config/parameter_reference.md#SEP_YAW_OFFS) value needs to be changed accordingly.
If the antennas are not at the same height, the [SEP_PITCH_OFFS](../advanced_config/parameter_reference.md#SEP_PITCH_OFFS) value needs to be changed.
## Logging
There are two ways to log data for Septentrio GNSS receivers.
The first is to log certain SBF (Septentrio Binary Format) blocks internally on the receiver.
The second is to log incoming, outgoing, or all communication between the flight controller and receiver on the internal storage in the flight controller.
### Internal Receiver Logging
The driver can configure the receivers to log their data to internal storage, which can be valuable for troubleshooting if something goes wrong.
There are three parameters to change the logging configuration.
- [SEP_LOG_HZ](../advanced_config/parameter_reference.md#SEP_LOG_HZ) sets the frequency of the internal logging and can also be used to disable logging.
- [SEP_LOG_FORCE](../advanced_config/parameter_reference.md#SEP_LOG_FORCE) sets whether the driver overwrites existing messages on the logging stream (`Enabled`) or appends to them (`Disabled`).
- [SEP_LOG_LEVEL](../advanced_config/parameter_reference.md#SEP_LOG_LEVEL) sets the verbosity of the internal logging.
There are four levels:
| Level | Blocks |
| ------- | ---------------------------------------------------------- |
| Lite | Comment+ReceiverStatus |
| Basic | Comment+ReceiverStatus+PostProcess+Event |
| Default | Comment+ReceiverStatus+PostProcess+Event+Support |
| Full | Comment+ReceiverStatus+PostProcess+Event+Support+BBSamples |
### Flight Controller Logging
The driver can also log all communication from and to the receiver.
That can be configured using the `SEP_DUMP_COMM` parameter.
See [the logging guide](../dev_log/logging.md) for more information about reading those files.
## MAVLink Console Usage
The [Septentrio driver](../modules/modules_driver.md#septentrio) can be controlled from the [MAVLink console](../debug/mavlink_shell.md#qgroundcontrol-mavlink-console).
This allows for driver startup and shutdown, receiver resets, status monitoring and parameter changes.
It may also help when encountering problems as the console may print related error messages, pointing to the source of the problem.
**Error messages are only displayed when the driver has been started from the console.**
```sh
# See help
septentrio -h
```
```sh
# Get current health and statistics
septentrio status
```
```sh
# Start the driver with a receiver connected on port `/dev/ttyS0` and
# automatically configure it to baud rate 115200. Also use a receiver on
# port `/dev/ttyS7` and use its current baud rate.
septentrio start -d /dev/ttyS0 -b 115200 -e /dev/ttyS7
```
Three reset types are supported:
- `hot`: Reset the receiver firmware but preserve the current configuration
- `warm`: Reset the receiver firmware, preserve the current configuration but remove cached PVT data
- `cold`: Reset the receiver firmware and use boot configuration, also remove satellite data like
ephemerides
```sh
# Perform a hot reset on the connected receivers
septentrio reset hot
```
docs/en/gps_compass/septentrio_asterx-rib.md
+132
View File
@@ -0,0 +1,132 @@
# Septentrio AsteRx-m3 Pro With RIB Board
Septentrio is the leading worldwide supplier of OEM GPS/GNSS receivers.
Septentrio OEM receivers deliver accurate and reliable positions to demanding industrial applications in a small, light-weight form factor.
There are several dual-antenna receiver options that allows for GPS information to be fused into the heading (other attitude information can also be determined, but is not fused by PX4).
Inertial sensor integration of the AsteRx-m3 Pro family offers a full attitude solution (heading, pitch and roll) synchronized with accurate positioning.
![Septentrio Robotics Interface Board](../../assets/hardware/gps/septentrio_sbf/asterx_m3_and_rib_board.png)
The Robotics Interface Board coupled with Septentrio GNSS receiver boards provides common interfaces like USB, ethernet, on-board logging and other functionalities designed for rapid prototyping, product evaluation or efficient integration.
The features include the following:
- Ultra-low-power credit-card size boards
- Easy integration into any system
- Best-in-class RTK performance with true multi-constellation, multi-frequency GNSS technology
- Advanced Interference Mitigation (AIM+) anti-jamming and anti-spoofing technology
- Resilient to vibration and shocks
- 44 pins I/O connector for autopilots such as Pixhawk
- On-board logging
- USB Micro-B connector
- Size: 71.53 x 47.5 x 18.15 mm
- Weight: 50g
## Purchase
All AsteRx receivers and Robotic Interface Boards can be purchased from the Septentrio webshop:
- [AsteRx-m3 Pro](https://web.septentrio.com/l/858493/2022-04-19/xgrrz)
- [AsteRx-m3 Pro+](https://web.septentrio.com/l/858493/2022-04-19/xgrs3)
Other PX4 supported devices from Septentrio:
- [mosaic-go evaluation kit](../gps_compass/septentrio_mosaic-go.md)
## Interfaces
![Septentrio Robotics Interface Board Fritzing drawing](../../assets/hardware/gps/septentrio_sbf/rib.png)
### USB
_Connector type: micro-USB type B._
The micro USB type B connector can be attached to a PC to power the receiver and to communicate with it over its USB port.
### 44-pin header
_Connector type: SAMTEC TMM-122-03-S-D, 2-mm pitch._
The 44-pin header can be used to connect multiple GPIO devices.
Refer to the [hardware manual](https://web.septentrio.com/l/858493/2022-04-19/xgrsw) for the pinout.
### LED's
The LED pins can be used to monitor the receiver status.
They can be used to drive external LEDs (max drive current 10mA).
It is assumed that the LED lights when the electrical level of the corresponding pin is high.
The general-purpose LED (GPLED pin) is configured with the setLEDMode command.
### Log Button Header
Putting a jumper on the LOG Button header (.100" vertical header) is equivalent to pressing a "log button".
The interface board takes care of debouncing.
### PPS/Event Header
_Connector type: SAMTEC TMM-103-03-G-D, 2-mm pitch._
The 6-pin 2mm header next to the micro USB connector exposes the first PPS signal.
### Power Supply Options
When a USB cable is connected to the USB Micro-B connector, the interface board is powered from the computer through the USB connector.
Alternatively, the power can be applied from the `PWR_IN` pins of the 44-pin connector.
The voltage range when powering from the `PWR_IN` pins is 4.5V to 30V.
Power can be applied from both sources at the same time.
On-board diodes prevent short circuits.
The interface board provides the 3V3 supply to the AsteRx-m3 OEM receiver and a 5V DC voltage to the `VANT` pin of the AsteRx-m3 OEM.
## PX4 Configuration
PX4 configuration is covered in [Septentrio GNSS Receivers](../gps_compass/septentrio.md).
## Hardware setup
![Septentrio Robotics Interface Board wiring diagram](../../assets/hardware/gps/septentrio_sbf/rib_wiring.png)
1. Make sure the receiver is powered with at least 3.3V. You can use the micro USB connector or the open ended supply (labeled "PWR & GND") on the 44 pin cable for this.
2. Connect one or two GNSS antennas to the external antenna ports on the AsteRx-m3 Pro board.
3. Connect the 44-pin cable to the AsteRx-m3 Pro board on RIB and connect the 10-pin JST connector to the _GPS MODULE_ port on the Pixhawk 4 as shown in the diagram above.
::: info
PX4 will ensure that the GNSS module is automatically configured. However, if you have a dual
antenna setup, you will need to set the layout as accurately as possible in the web app.
:::
### Dual-Antenna
The attitude (heading/pitch) can be computed from the orientation of the baseline between the main and the aux1 GNSS antennas.
![Multi-antenna attitude determination setup](../../assets/hardware/gps/septentrio_sbf/multi-antenna_attitude_setup.png)
To enable multi-antenna attitude determination, follow the following procedure:
1. Attach two antennas to your vehicle, using cables of approximately the same length.
The default antenna configuration is as depicted in the figure.
It consists in placing the antennas aligned with the longitudinal axis of the vehicle, main antenna behind `AUX1`.
For best accuracy, try to maximize the distance between the antennas, and avoid significant height difference between the antenna ARPs.
2. In practice, the two antenna ARPs may not be exactly at the same height in the vehicle frame, or the main-aux1 baseline may not be exactly parallel or perpendicular to the longitudinal axis of the vehicle.
This leads to offsets in the computed attitude angles.
These can be compensated for with the heading parameters provided by the Septentrio driver in PX4.
::: info
For optimal heading results, the two antennas should be separated by at least 30cm / 11.8 in (ideally 50cm / 19.7in or more).
For additional configuration of the dual antenna setup, please refer to our [Knowledge Base](https://support.septentrio.com/l/858493/2022-04-19/xgrsh) or the [hardware manual](https://web.septentrio.com/l/858493/2022-04-19/xgrsl).
:::
### Web App
mosaic-H GPS/GNSS receiver module with heading comes with fully documented interfaces, commands and data messages.
The included GNSS receiver control and analysis software [RxTools](https://web.septentrio.com/l/858493/2022-04-19/xgrss) allows receiver configuration,
monitoring as well as data logging and analysis.
The receiver includes an intuitive web user interface for easy operation and monitoring allowing you to control the receiver from any mobile device or computer.
The web interface also uses easy-to-read quality indicators ideal to monitor the receiver operation during the job at hand.
![Illustrative image for Septentrio mosaic-H GNSS Receiver Module Web User Interface (WebUI)](../../assets/hardware/gps/septentrio_sbf/septentrio_mosaic_a5_h_t_clas_gnss_module_receiverwebui.png)
:::tip
If you want more detailed information about the AsteRx and the Robotics Interface Board, please refer to the [hardware manual](https://web.septentrio.com/l/858493/2022-04-19/xgrsw) or the [Septentrio Support](https://support.septentrio.com/l/858493/2022-04-19/xgrsz) page.
:::
docs/en/gps_compass/septentrio_mosaic-go.md
+139
View File
@@ -0,0 +1,139 @@
# Septentrio mosaic-go
The Septentrio mosaic-go receivers are evaluation kits for their mosaic-X5 and mosaic-H receiver modules.
Because of their small size and low weight, they are ideal for autopilot applications.
The available variants are the [mosaic-go](https://www.septentrio.com/en/products/gps/gnss-receiver-modules/mosaic-go-evaluation-kit)
and [mosaic-go heading](https://www.septentrio.com/en/products/gps/gnss-receiver-modules/mosaic-h-evaluation-kit).
![Mosaic go Highly Accurate GNSS Receiver Module](../../assets/hardware/gps/septentrio_sbf/mosaic-go.png)
Their features include the following:
- High update rate (>100 Hz) and low latency, both crucial for control systems of autonomous applications
- Reliable centimetre-level positioning
- Full L2 support via P(Y) code
- Size: 71 x 59 x 12 mm ± 1mm
- Weight: 58g ± 1g
## Purchase
The mosaic-go kit is available on Septentrio's [official store](https://web.septentrio.com/l/858493/2022-04-19/xgrnz):
- [mosaic-go heading GNSS module evaluation kit](https://web.septentrio.com/l/858493/2022-04-19/xgrp9)
- [mosaic-go GNSS module receiver evaluation kit](https://web.septentrio.com/l/858493/2022-04-19/xgrpd)
Other PX4 supported devices from Septentrio:
- [AsteRx OEM with Robotics Interface Board](../gps_compass/septentrio_asterx-rib.md)
## mosaic-go Evaluation Kit Contents
- 1 mosaic-H or mosaic-X5 module soldered on an interface board inside a metallic housing.
- 1 USB cable
- 6-pin COM1 open-ended cable
- 4-pin COM2 open-ended cable
- Help user guide card
## Physical Interfaces
| Type | Label | Use |
| --------------- | ------------ | ---------------------------------------- |
| USB Micro-B | USB | USB communication and power |
| RSV USB Micro-B | RSV | Reserved and should not be used |
| SMA | RF-IN\{1,2\} | Main (and auxiliary) antenna connections |
| 6-pin JST | Serial | Serial communication and power |
| 4-pin JST | Serial | Serial communication |
| microSD | TF CARD | Serial communication |
> Dual-antenna is only available on mosaic-H-based receivers.
### 6-pin Connector
_Connector type: GH connector, 1.25mm pitch, 6 way. Mating connector housing: GHR-06V-S._
| Pin Name | Direction | Level | Description | Comment |
| -------- | --------- | ---------- | ------------------------- | ----------------------------------------------------------------- |
| VCC | PWR | 4.75V-5.5V | Main power supply | |
| GND | | 0 | Ground | |
| TXD1 | Out | 3V3_LVTTL | Serial COM1 transmit line | Directly connects to TXD1 of internal mosaic |
| RXD1 | In | 3V3_LVTTL | Serial COM1 receive line | Directly connects to RXD1 of internal mosaic |
| PPS | Out | 3V3_LVTTL | PPSoutput | PPSO from mosaic converted to 3.3V |
| EVENT | In | 3V3_LVTTL | Event timer input | Connects to EVENTA of mosaic through a 3V3to 1V8 level translator |
### 4-pin Connector
_Connector type: GH connector, 1.25mm pitch, 4way. Mating connector housing: GHR-04V-S._
| Pin Name | Direction | Level | Description | Comment |
| -------- | --------- | --------- | ------------------------- | ----------------------------------------------- |
| NRST | In | 3V3_LVTTL | Reset input | Directly connects to nRST_IN of internal mosaic |
| TXD2 | Out | 3V3_LVTTL | Serial COM2 transmit line | Directly connects to TXD2 of internal mosaic |
| RXD2 | In | 3V3_LVTTL | Serial COM2 receive line | Directly connects to RXD2 of internal mosaic |
| GND | | 0 | Ground | |
## PX4 Configuration
PX4 configuration is covered in [Septentrio GNSS Receivers](../gps_compass/septentrio.md).
## Hardware Connection Example Pixhawk 4
1. Make sure the receiver is powered with at least 3.3V. You can use the USB Micro-B connector or the 6-pin JST connector.
2. Connect one or two GNSS antennas to the RF-IN ports on the mosaic-go.
3. Connect the 6-pin connector (COM1) to the Pixhawk's _GPS MODULE_ port.
This will provide power to the mosaic-go and with this single connection it will be able to send single and dual-antenna
information to the Pixhawk 4.
![Wiring diagram, Pixhawk 4 - mosaic-go](../../assets/hardware/gps/septentrio_sbf/mosaic-go_wiring.png "Wiring diagram, Pixhawk 4 - mosaic-go")
::: warning
Make sure the JST cable is wired correctly since this is not a standard cable:
![Wiring of JST cable](../../assets/hardware/gps/septentrio_sbf/jst_cable.png)
:::
### Dual-Antenna
The attitude (heading/pitch) can be computed from the orientation of the baseline between the main and the aux1 GNSS antennas.
![Multi-antenna attitude determination setup](../../assets/hardware/gps/septentrio_sbf/multi-antenna_attitude_setup.png)
To enable multi-antenna attitude determination, follow the following procedure:
1. Attach two antennas to your vehicle, using cables of approximately the same length.
The default antenna configuration is as depicted in the figure.
It consists in placing the antennas aligned with the longitudinal axis of the vehicle, main antenna behind AUX1.
For best accuracy, try to maximize the distance between the antennas, and avoid significant height difference between the antenna ARPs.
2. In practice, the two antenna ARPs may not be exactly at the same height in the vehicle frame, or the main-aux1 baseline may not be exactly parallel or perpendicular to the longitudinal axis of the vehicle.
This leads to offsets in the computed attitude angles.
These can be compensated for with the heading parameters provided by the Septentrio driver in PX4.
::: info
For optimal heading results, the two antennas should be seperated by at least 30cm / 11.8 in (ideally 50cm / 19.7in or more).
For additional configuration of the dual antenna setup, please refer to our [Knowledge Base](https://support.septentrio.com/l/858493/2022-04-19/xgrqd) or the [hardware manual](https://web.septentrio.com/l/858493/2022-04-19/xgrql).
:::
### Web App
mosaic-H GPS/GNSS receiver module with heading comes with fully documented interfaces, commands and data messages.
The included GNSS receiver control and analysis software [RxTools](https://web.septentrio.com/l/858493/2022-04-19/xgrqp) allows receiver configuration, monitoring as well as data logging and analysis.
The receiver includes an intuitive web user interface for easy operation and monitoring allowing you to control the receiver from any mobile device or computer.
The web interface also uses easy-to-read quality indicators ideal to monitor the receiver operation during the job at hand.
![Septentrio web user interface](../../assets/hardware/gps/septentrio_sbf/septentrio_mosaic_a5_h_t_clas_gnss_module_receiverwebui.png)
## LED Status
| LED Color | Powered | SD card mounted | PVT Solution | Logging enabled |
| ------------- | :-----: | :-------------: | :----------: | :-------------: |
| Red | ✓ | | | |
| Green | ✓ | ✓ | | |
| Blue | ✓ | ✓ | ✓ | |
| Purple | ✓ | | ✓ | |
| Purple + Blue | ✓ | ✓ | ✓ | ✓ |
| Red + Green | ✓ | ✓ | | ✓ |
:::tip
For more detailed information about the mosaic-go and its module, please refer to the [hardware manual](https://web.septentrio.com/l/858493/2022-04-19/xgrrd) or the [Septentrio Support](https://support.septentrio.com/l/858493/2022-04-19/xgrrl) page.
:::
docs/en/gps_compass/u-blox_f9p_heading.md
+58
View File
@@ -0,0 +1,58 @@
# RTK GPS Heading with Dual u-blox F9P
Two u-blox F9P [RTK GPS](../gps_compass/rtk_gps.md) modules mounted on a vehicle can be used to accurately compute a heading angle (i.e. an alternative to compass-based heading estimation).
The two GPS devices in this scenario are referred to as the _Moving Base_ and _Rover_.
## Supported Devices
This feature works on F9P devices that support CAN or expose the GPS UART2 port.
The following devices are supported:
- [ARK RTK GPS](https://arkelectron.com/product/ark-rtk-gps/) (arkelectron.com)
- [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/products/15136) (www.sparkfun.com)
- [SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) (store-drotek.com)
- [mRo u-blox ZED-F9 RTK L1/L2 GPS](https://store.mrobotics.io/product-p/m10020d.htm) (store.mrobotics.io)
- [Holybro H-RTK F9P Helical or Base](https://holybro.com/products/h-rtk-f9p-gnss-series) (Holybro Store)
- [Holybro DroneCAN H-RTK F9P Rover or Helical](https://holybro.com/collections/dronecan-h-rtk) (Holybro Store)
- [CUAV C-RTK 9Ps](https://store.cuav.net/shop/c-rtk-9ps/) (CUAV Store)
::: info
- [Freefly RTK GPS](../gps_compass/rtk_gps_freefly.md) and [Holybro H-RTK F9P Rover Lite](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) cannot be used because they do not expose the CAN or UART2 port.
- Supported devices are also listed in [RTK GNSS (GPS) > Supported Devices](../gps_compass/rtk_gps.md#supported-devices).
:::
## Setup
Ideally the two antennas should be identical, on the same level/horizontal plane and oriented the same way, and on an identical ground plane size and shape ([Application note](https://content.u-blox.com/sites/default/files/documents/ZED-F9P-MovingBase_AppNote_UBX-19009093.pdf), section _System Level Considerations_).
- The application note does not state the minimal required separation between modules (50cm has been used in test vehicles running PX4).
- The antennas can be positioned as needed, but the [GPS_YAW_OFFSET](../advanced_config/parameter_reference.md#GPS_YAW_OFFSET) must be configured:
[RTK GPS > GPS as Yaw/Heading Source](../gps_compass/rtk_gps.md#configuring-gps-as-yaw-heading-source).
### UART Setup
- The UART2 of the GPS devices need to be connected together (TXD2 of the "Moving Base" to RXD2 of the "Rover")
- Connect UART1 on each of the GPS to (separate) unused UART's on the autopilot, and configure both of them as GPS with baudrate set to `Auto`.
The mapping is as follows:
- Main GPS = Rover
- Secondary GPS = Moving Base
- Set [GPS_UBX_MODE](../advanced_config/parameter_reference.md#GPS_UBX_MODE) to `Heading` (1)
- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) parameter bit 3 must be set (see [RTK GPS > GPS as Yaw/Heading Source](../gps_compass/rtk_gps.md#configuring-gps-as-yaw-heading-source)).
- [GPS_YAW_OFFSET](../advanced_config/parameter_reference.md#GPS_YAW_OFFSET) may need to be set (see [RTK GPS > GPS as Yaw/Heading Source](../gps_compass/rtk_gps.md#configuring-gps-as-yaw-heading-source)).
- Reboot and wait until both devices have GPS reception.
`gps status` should then show the Main GPS going into RTK mode, which means the heading angle is available.
### CAN Setup
Refer to the CAN RTK GPS documentation for each specific device for the setup instructions (such as [ARK RTK GPS > Setting Up Moving Baseline & GPS Heading](../dronecan/ark_rtk_gps.md#setting-up-moving-baseline-gps-heading))
::: info
If using RTK with a fixed base station the secondary GPS will show the RTK state w.r.t. the base station.
:::
## Further Information
- [ZED-F9P Moving base applications (Application note)](https://content.u-blox.com/sites/default/files/documents/ZED-F9P-MovingBase_AppNote_UBX-19009093.pdf) - General setup/instructions.
- [RTK GPS > GPS as Yaw/Heading Source](../gps_compass/rtk_gps.md#configuring-gps-as-yaw-heading-source)