Inject position data to PX4

1

Hi

We would like to inject lat, lon and alt in PX4 but GPS_INPUT does not work.
GPS2_RAW neither.
For GPS_INPUT our setup are correct except both time_week_ms and time_week.
We set fix_type at 5 (RTK) because our system’s precision is better than GPS.

How to inject position correction data in PX4?
Can we override GPS data with mavlink messages?

Thanks for your time
Wifibot

2

What about HIL_GPS? I recall with EKF2 you can enable MAV_USEHILGPS and fake GPS data with it.

3

@wifibot PX4 does not support GPS_INPUT. You have to use HIL_GPS and set MAV_USEHILGPS param as @broody said.

1 Like
4

Thanks for your responses

We have to use both inboard GPS and fake GPS value at different moment of flight.
The UAV doesn’t react to HIL_GPS (maybe because the other GPS has more weight).

However we have already put the HIL_GPS fix type at its maximum value (MAV_USEHILGPS is set to 1)

5

If you have both, then you should use MOCAP or VISION topics.