Using PX4 Firmware

PX4 Setup Tutorial

Communication via serial port

Currently, RTK Ultra cannot output GPS YAW heading data to the flight controller via CAN communication;

How to check if the firmware is compatible: Connect the flight controller to QGroundControl, and check in the parameter configuration interface whether the parameter [SEP_PORT1_CFG] indicates compatibility.

Parameter configuration

Assuming that the UART of RTK ULtra is connected to the GPS2 interface of the flight controller and RTK Ultra is used as the main GPS, the following parameters are configured:

• SEP_PORT1_CFGSet to GPS2
• gps_1_config Set to disabled
• SEP_YAW_OFFSSet the yaw angle, if the primary antenna is in front, set the heading offset to 0. Angles increase clockwise, so if the primary antenna is on the right side of the vehicle and the secondary antenna is on the left, set the offset to 90 degrees.

RTK heading confirmation

Check the yaw data of GPS_RAW_INT in the mavlink monitoring interface of Analyze Tools. If it is consistent with the flight controller's nose pointing, it means that GPS_YAW_OFFSET is set correctly.

The hdg value of GLOBAL_POSITION_INT and the yaw value of GPS_RAW_INT are consistent, indicating that the aircraft heading uses RTK direction data.