Hi, I’m trying to get a stable RTK fix on my drone, but it hasn’t been very reliable.
Right now I’m using the MAVLink method. My setup is:
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A Raspberry Pi + ZED-F9P as the base station
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ROS 2 to send RTCM data from the base to the drone
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On the drone, I use an F9P Ultralight as the GPS
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A subscriber on the drone forwards the RTCM data to the MAVLink UDP port
I’ve been able to get both RTK Float and RTK Fix, but it doesn’t seem stable. I had RTK Fix for a short period, then it suddenly dropped back to standard GNSS, and I’m not sure why.
I’ve also looked into exposing the gps_inject_data uORB topic to inject RTCM data directly.
Does anyone have experience with better methods for achieving a stable RTK fix with your own base station? Or any tips on how I can improve this setup?