Holybro DroneCAN H-RTK F9P Helical GPS Heading/Yaw

Axel_Schnitger · September 12, 2024, 11:21am

Hi, We purchased 2 Holybro DroneCAN H-RTK F9P Helical GPS for GPS Heading, we took as reference the compatible list of RTK GPS Heading with Dual u-blox F9P.

Also in the Holybro documentation said that the GPS was compatible with heading, they changed their documentation after contacting them.

We managed to have 3D GPS RTK Lock (fixed) with both GPS connected to the autopilot.

image (2)

But there is no evidence that the heading is working

nsh: sysinit: fopen failed: No such file or directory

NuttShell (NSH) NuttX-11.0.0
nsh> listener estimator_status_flags

TOPIC: estimator_status_flags 3 instances

Instance 0:
 estimator_status_flags
    timestamp: 988480835 (0.361949 seconds ago)
    timestamp_sample: 988310878 (169957 us before timestamp)
    control_status_changes: 17
    fault_status_changes: 0
    innovation_fault_status_changes: 2
    cs_tilt_align: True
    cs_yaw_align: True
    cs_gps: True
    cs_opt_flow: False
    cs_mag_hdg: True
    cs_mag_3d: False
    cs_mag_dec: False
    cs_in_air: False
    cs_wind: False
    cs_baro_hgt: True
    cs_rng_hgt: False
    cs_gps_hgt: True
    cs_ev_pos: False
    cs_ev_yaw: False
    cs_ev_hgt: False
    cs_fuse_beta: False
    cs_mag_field_disturbed: False
    cs_fixed_wing: False
    cs_mag_fault: False
    cs_fuse_aspd: False
    cs_gnd_effect: False
    cs_rng_stuck: False
    cs_gps_yaw: False
    cs_mag_aligned_in_flight: False
    cs_ev_vel: False
    cs_synthetic_mag_z: False
    cs_vehicle_at_rest: True
    cs_gps_yaw_fault: False
    cs_rng_fault: False
    cs_inertial_dead_reckoning: False
    cs_wind_dead_reckoning: False
    cs_rng_kin_consistent: False
    cs_fake_pos: False
    cs_fake_hgt: False
    cs_gravity_vector: False
    fs_bad_mag_x: False
    fs_bad_mag_y: False
    fs_bad_mag_z: False
    fs_bad_hdg: False
    fs_bad_mag_decl: False
    fs_bad_airspeed: False
    fs_bad_sideslip: False
    fs_bad_optflow_x: False
    fs_bad_optflow_y: False
    fs_bad_vel_n: False
    fs_bad_vel_e: False
    fs_bad_vel_d: False
    fs_bad_pos_n: False
    fs_bad_pos_e: False
    fs_bad_pos_d: False
    fs_bad_acc_bias: False
    fs_bad_acc_vertical: False
    fs_bad_acc_clipping: False
    reject_hor_vel: False
    reject_ver_vel: False
    reject_hor_pos: False
    reject_ver_pos: False
    reject_yaw: False
    reject_airspeed: False
    reject_sideslip: False
    reject_hagl: False
    reject_optflow_x: False
    reject_optflow_y: False


Instance 1:
 estimator_status_flags
    timestamp: 988374834 (0.549414 seconds ago)
    timestamp_sample: 988194047 (180787 us before timestamp)
    control_status_changes: 17
    fault_status_changes: 0
    innovation_fault_status_changes: 2
    cs_tilt_align: True
    cs_yaw_align: True
    cs_gps: True
    cs_opt_flow: False
    cs_mag_hdg: True
    cs_mag_3d: False
    cs_mag_dec: False
    cs_in_air: False
    cs_wind: False
    cs_baro_hgt: True
    cs_rng_hgt: False
    cs_gps_hgt: True
    cs_ev_pos: False
    cs_ev_yaw: False
    cs_ev_hgt: False
    cs_fuse_beta: False
    cs_mag_field_disturbed: False
    cs_fixed_wing: False
    cs_mag_fault: False
    cs_fuse_aspd: False
    cs_gnd_effect: False
    cs_rng_stuck: False
    cs_gps_yaw: False
    cs_mag_aligned_in_flight: False
    cs_ev_vel: False
    cs_synthetic_mag_z: False
    cs_vehicle_at_rest: True
    cs_gps_yaw_fault: False
    cs_rng_fault: False
    cs_inertial_dead_reckoning: False
    cs_wind_dead_reckoning: False
    cs_rng_kin_consistent: False
    cs_fake_pos: False
    cs_fake_hgt: False
    cs_gravity_vector: False
    fs_bad_mag_x: False
    fs_bad_mag_y: False
    fs_bad_mag_z: False
    fs_bad_hdg: False
    fs_bad_mag_decl: False
    fs_bad_airspeed: False
    fs_bad_sideslip: False
    fs_bad_optflow_x: False
    fs_bad_optflow_y: False
    fs_bad_vel_n: False
    fs_bad_vel_e: False
    fs_bad_vel_d: False
    fs_bad_pos_n: False
    fs_bad_pos_e: False
    fs_bad_pos_d: False
    fs_bad_acc_bias: False
    fs_bad_acc_vertical: False
    fs_bad_acc_clipping: False
    reject_hor_vel: False
    reject_ver_vel: False
    reject_hor_pos: False
    reject_ver_pos: False
    reject_yaw: False
    reject_airspeed: False
    reject_sideslip: False
    reject_hagl: False
    reject_optflow_x: False
    reject_optflow_y: False


Instance 2:
 estimator_status_flags
    timestamp: 988149971 (0.855342 seconds ago)
    timestamp_sample: 987968413 (181558 us before timestamp)
    control_status_changes: 17
    fault_status_changes: 0
    innovation_fault_status_changes: 2
    cs_tilt_align: True
    cs_yaw_align: True
    cs_gps: True
    cs_opt_flow: False
    cs_mag_hdg: True
    cs_mag_3d: False
    cs_mag_dec: False
    cs_in_air: False
    cs_wind: False
    cs_baro_hgt: True
    cs_rng_hgt: False
    cs_gps_hgt: True
    cs_ev_pos: False
    cs_ev_yaw: False
    cs_ev_hgt: False
    cs_fuse_beta: False
    cs_mag_field_disturbed: False
    cs_fixed_wing: False
    cs_mag_fault: False
    cs_fuse_aspd: False
    cs_gnd_effect: False
    cs_rng_stuck: False
    cs_gps_yaw: False
    cs_mag_aligned_in_flight: False
    cs_ev_vel: False
    cs_synthetic_mag_z: False
    cs_vehicle_at_rest: True
    cs_gps_yaw_fault: False
    cs_rng_fault: False
    cs_inertial_dead_reckoning: False
    cs_wind_dead_reckoning: False
    cs_rng_kin_consistent: False
    cs_fake_pos: False
    cs_fake_hgt: False
    cs_gravity_vector: False
    fs_bad_mag_x: False
    fs_bad_mag_y: False
    fs_bad_mag_z: False
    fs_bad_hdg: False
    fs_bad_mag_decl: False
    fs_bad_airspeed: False
    fs_bad_sideslip: False
    fs_bad_optflow_x: False
    fs_bad_optflow_y: False
    fs_bad_vel_n: False
    fs_bad_vel_e: False
    fs_bad_vel_d: False
    fs_bad_pos_n: False
    fs_bad_pos_e: False
    fs_bad_pos_d: False
    fs_bad_acc_bias: False
    fs_bad_acc_vertical: False
    fs_bad_acc_clipping: False
    reject_hor_vel: False
    reject_ver_vel: False
    reject_hor_pos: False
    reject_ver_pos: False
    reject_yaw: False
    reject_airspeed: False
    reject_sideslip: False
    reject_hagl: False
    reject_optflow_x: False
    reject_optflow_y: False

nsh>

Has somebody managed to make it work?

dbitetto · September 17, 2024, 7:31am

I got the same problem. Did you solved?

Axel_Schnitger · September 17, 2024, 9:08am

Hi, No, there is not any solution, Holybro and PX4 said on his documentation that it was posible to do on 1.14 version, but after contacting with Holybro support, they said that his documentation was wrong.

dbitetto · September 17, 2024, 9:28am

Hi tested also The H-RTK Unicore UM982 and it does not work for heading. We should move to another GPS. Idk which one at this point

Axel_Schnitger · September 17, 2024, 9:48am

Yes, just gonna try today the H-RTK mosaic-H of Holybro, but for me, Holybro is not a trusting company for that aplication.

Axel_Schnitger · September 19, 2024, 6:57am

Hi @dbitetto

After making tests with the Mosaic-H, heading is working properly.

dbitetto · September 19, 2024, 7:36am

Hi Axel,

Thank you very much for this update. So will buy it as fast as possible. Could you share me the setup/configuration that you followed for this dual Gps?

Axel_Schnitger · September 19, 2024, 7:46am

Hi,
Just use Holybro documentation,

you will need to calibrate the compass, but heading only relies on GPS.