GPS doesn't seem to use RTK corrections

PX4 Autopilot
1

I’m currently trying to inject RTCM messages into my Here4 rover, but my fix stays mostly at 3 and only briefly goes to 4.

My setup is as follows:

A companion computer runs mavproxy with it’s NTRIP module enabled. The NTRIP module receives the RTCM messages and sends them via USB to a CubeOrange+ running px4 v1.17.0. The FC now has a DroneCAN connection to the Here4 module. My parameters file can be found here.

I’ve been using the same setup with Ardupilot and had no issues, so the general setup should be sane.

Does anybody know what this could be?

2

I think I solved it.

When px4 receives RTCM corrections, it apparently doesn’t forward them over DroneCAN connections by default. It has to be enabled using the parameter UAVCAN_PUB_RTCM.

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