How do I really know I am using RTK corrections

PX4 Autopilot
1

Hi!

How do I know that the RTK corrections are being made with my drone location estimation? I know when I use Qgroundcontrol and put in my fixed location, I can see the RTK icon be white and when I click on it I can see it is streaming - but is there any way else to confirm?

I was figuring that I should see the covariance matrix decrease when going from not using an RTK to using an RTK. I was looking at the covariance matrix from the odometry mavlink message, but it appears that the values stay roughly the same when I am plugged into RTK or not (and I have the RTK streaming in white letters). Should I be looking at a difference covariance value? Or some other message to confirm that the estimation is more dialed in with the RTK? Like GLOBAL_POSITION_INT_COV?

Thanks!

2

Usually, for me, the fix type goes from 3 to float or fixed RTK after a while.

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