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:
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.
Detailed Documentation:
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