Skip to content

Latest commit

 

History

History
63 lines (40 loc) · 2.46 KB

setting-up-rtk-+-gps.md

File metadata and controls

63 lines (40 loc) · 2.46 KB
Raw

Setting up RTK + GPS

1. Setting up GPS:

  • Connect the 4-pin CAN cable from Here 4 to CAN1 or CAN2 on the flight control. (Note: Ensure firmware compatibility)
  • Power the flight control and connect it to Mission Planner.
  • In Mission Planner, navigate to Config - Full Parameter List and modify the following parameters:
    • CAN_D1_PROTOCOL: 1
    • CAN_D2_PROTOCOL: 1
    • CAN_P1_DRIVER: 1
    • CAN_P2_DRIVER: 1
    • GPS_TYPE: 9
    • NTF_LED_TYPES: 231
  • Click "Write Params" after modifications.
  • Reboot the autopilot; CAN function should be enabled upon reboot.

Compass Setting:

  • If there's no safety switch, disable it by modifying BRD_SAFETYENABLE to 0.
  • Alternatively, connect an external safety switch to GPS1 port.
  • Note: For Cube orange+, compasses are ordered on the bottom, and the external CAN compass is selected by default.

2. Setting up RTK:

Setup

Ground Side:

  • Connect the base antenna to the base station and then connect the base station module to a computer via USB port.
  • Connect the telemetry module to another USB port on the same computer.

UAV Side:

  • Connect Here 3 / Here 3+ to the CAN interface and the telemetry module to the TELEM interface on the flight control.

Antenna Placing:

  • Place the RTK antenna in an environment with a clear view of the sky, ideally 30 degrees above the horizon.
  • Avoid placing antennas indoors, urban areas, forests, or near the ground.
  • Ensure no electronic devices are nearby that may affect the GPS signal.

Base Module Setting using Mission Planner:

  • Open Mission Planner and navigate to "initial setup → Optional Hardware → RTK/GPS Inject".
  • Select the correct base module COM port and click connect.
  • Enter the expected absolute geographic accuracy and minimum survey time.
  • Click "Restart" to initiate the surveying process.
  • Allow time for the base station to meet accuracy requirements.
  • After the survey is complete, save the current location in Mission Planner.

Mission Planner screen after completition of survey.

Detailed Documentation:

For more detailed instructions and information, please refer to the official documentation available at: Here 3 Manual - RTK Use Operation.