Hello
I would like to provide external navigation to Ardupilot (position, heading, attitude) in “Rover” frame and avoid using internal GNSS/INS?
I found on the docs page that two external Nav devices can be used, but with no information on the data formats or needed messages.
Is there a documentation which outlines how to provide full external navigation via Mavlink or NMEA and needed commands?
thanks in advance
After few internet searches I found the way how to fit in the external navigation data into the Ardupilot and avoid using the onboard GNSS/INS.
It is nicely explained here:
https://www.ardusub.com/developers/gps-positioning.html
and
here
https://www.ardusub.com/developers/pymavlink.html
in the bottom of the page.
The GPS navigation is sent by using master.mav.gps_input_send
The key to this is to set the ardupilot parameter
GPS_TYPE = MAV(14)
which make the default GPS using Mavlink. That makes Ardupilot think this is the right GPS