Px4 Support for GOS Yaw / moving base F9P

Hi,

I have 2 GNSS Ubox F9P on the vehicle and I wonder if PX4 supports the “moving base” feature for GPS YAW / heading?

Any procedure on how to implement and test it would be much appreciated

Thank you
Alexander

Hi

I have implemented this and will soon create a pull request to PX4.

Hi,

Could you please elaborate? Will PX4 automatically set up the F9P for GPS heading when they are connected?

Hi

Would you pls tell when this feature is to be expected in the stable release?
Thanks
Alexander

Hi

It is now on master and will be included in the next release: https://github.com/PX4/PX4-Autopilot/pull/15954
Docs: https://docs.px4.io/master/en/gps_compass/u-blox_f9p_heading.html

Thanks a lot. Great news and the excellent feature which may enable more robust yaw estimate.

If I have both GoS/Moving base and magnetometer enabled, then how EKF2 would mix it?

When is the next release planned ?