![]() Refer to the specific CAN RTK GPS documentation for the setup instructions. Gps status should then show the Main GPS going into RTK mode, which means the heading angle is available. Reboot and wait until both devices have GPS reception.GPS_YAW_OFFSET may need to be set (see GPS > Configuration > GPS as Yaw/Heading Source).EKF2_GPS_CTRL parameter bit 3 must be set (see GPS > Configuration > GPS as Yaw/Heading Source).Connect UART1 on each of the GPS to (separate) unused UART's on the autopilot, and configure both of them as GPS with baudrate set to Auto.The UART2 of the GPS devices need to be connected together (TXD2 of the "Moving Base" to RXD2 of the "Rover"). ![]() GPS > Configuration > GPS as Yaw/Heading Source. ZED-F9P High Precision GNSS receiver USB, UART, with MultiBand antenna L1, L2 Base or Rover operation and EMI protection. If I put the antenna and PCB on opposite sides of a ground plane with < 10 cm of cable from an MCX / U. It gives me errors: raw202008181706.obs Warning : No antenna type RINEX header record was found. ![]() The antennas can be positioned as needed, but the GPS_YAW_OFFSET must be configured: I am working on the schematic for a GPS unit (ZED-F9P) with built antenna, and am deciding on what type of antenna to incorporate. Hello the community, To get the (x,y,z) location for a point in field, I put the Base unit on a 175mm tripod for 3 hours, recorded raw logging in RINEX 3.00 format, and sent to CSRS-PPP SPARK online tool.The application note does not state the minimal required separation between modules (50cm has been used in test vehicles running PX4). ZED-F9P comes with built-in support for standard RTCM corrections, supporting centimeter-level navigation from local base stations or from virtual reference stations (VRS) in a Network RTK setup.Ideally the two antennas should be identical, on the same level/horizontal plane and oriented the same way, and on an identical ground plane size and shape ( Application note (opens new window), section System Level Considerations). Supported devices are also listed in GPS/Compass > Supported GPS and/or Compass.Freefly RTK GPS and Holybro H-RTK F9P Rover Lite cannot be used because they do not expose the CAN or UART2 port.
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