Hello there,
I recently purchased two sparkfun zed-f9p GPS RTK, which I intend to use to locate the px4 drone. on the ucenter software, I have set the uart2 interface protocol of the device as: Protocol in:RTCM3 and Protocol out:UBX+NMEA and Baudrate as 115200. I know the px4 system does not support nmea protocol.
I connected an rtk device and pixhawk4 to qgc on the same computer via two usb cables respectively. But when I connect this rtk device to the gps port of pixhawk4 like an ordinary gps device nsh> gps start -d /dev/ttyS0 -b 115200 -p ubx, the device cannot be connected successfully. qgc terminal shows:
nsh> gps status
INFO [gps] Main GPS
INFO [gps] protocol: UBX
INFO [gps] status: NOT OK, port: /dev/ttyS0, baudrate: 115200
INFO [gps] sat info: disabled
INFO [gps] rate reading: 0 B/s
However, if the ash protocol is used, px4 can detect a small number of satellites, but cannot publish sensor_gps messages.
INFO [gps] Main GPS
INFO [gps] protocol: ASHTECH
INFO [gps] status: NOT OK, port: /dev/ttyS0, baudrate: 115200
INFO [gps] sat info: disabled
INFO [gps] rate reading: 0 B/s
INFO [gps] rate position: 0.00 Hz
INFO [gps] rate velocity: 0.00 Hz
INFO [gps] rate publication: 0.00 Hz
INFO [gps] rate RTCM injection: 0.00 Hz
sensor_gps_s
timestamp: 689759983 (0.000529 seconds ago)
time_utc_usec: 0
device_id: 0 (Type: 0x00, UNKNOWN:0 (0x00))
lat: 488456306
lon: 23570470
alt: 134100
alt_ellipsoid: 0
s_variance_m_s: 0.0000
c_variance_rad: 0.1000
eph: 0.0000
epv: 0.0000
hdop: 0.0000
vdop: 0.0000
noise_per_ms: 0
jamming_indicator: 0
vel_m_s: 0.0000
vel_n_m_s: 0.0000
vel_e_m_s: 0.0000
vel_d_m_s: 0.0000
cog_rad: 0.0000
timestamp_time_relative: -689759983
heading: nan
heading_offset: nan
automatic_gain_control: 0
fix_type: 3
jamming_state: 0
vel_ned_valid: True
satellites_used: 6
The base RTK device works fine. The topic gps_inject_data published by qgc could be received on px4.
Well, I followed this tutorial, but I did not receive any valid rtk data. Does anyone have experience with zed f9p of sparkfun please? Can anyone help me?
Thanks a lot.