Hi, I am trying to use the RTK solution from Emlid (Reach) with Pixhawk and PX4 software.
So far I have set up the reach modules as rover and base. They can communicate if they're in the same network and correction data gets sent. However, I am not sure how to connect the rover module to Pixhawk. There are different formats to output solution from Reach (NMEA, RTCM,...). I saw in other forums that NMEA hasn't been supported by PX4 until some time ago, but now it is, is that correct? Or which format should I use?
Since the Reach base and Rover modules can already communicate and send corrections if they're in the same network, I thought that now the corrected GPS position data could be sent directly the Pixhawk in one of the above formats. However, in the instructions for Reach / Ardupilot telemetry is also used and I don't quite understand why.
To sum it up: What format should be used to send GPS data from the Reach rover module to pixhawk? How should I connect rover module with Pixhawk (GPS Port or Serial 4/5)? Do I have to do any other configuration steps?
Thanks for your help!