I have the simpleRTK2B+heading setup consisting of a simpleRTK2B and a simpleRTK2Blite (as can be seen here: https://www.ardusimple.com/simplertk2heading-hookup-guide/)
I flashed both boards with the newest firmware version 1.32. Then, I “uploaded” the recommended config files (from here: https://www.ardusimple.com/configuration-files/).
For the simpleRTK2B board I used the config 1Hz simpleRTK2B (Rover) of a simpleRTK2B+heading kit (for firmware version 1.30).
And for the simpleRTK2Blite board I used the 1Hz simpleRTK2Blite (Moving Base) of a simpleRTK2B+heading kit (also for firmware version 1.30).
My problem is that the simpleRTK2Blite board stops sending messages once it reaches an “accurate enough position”
The problem seems to be the same as described in this thread (https://www.ardusimple.com/question/simplertk2bheading-xbee-lr-not-enough-rtk-accuracy/). Unfortunately the solution is not stated other than it was due to a misconfiguration. But in my case I am using the given configurations as described above.
The following GitHub issue also seems to be referring to the same problem (https://github.com/ros-agriculture/ublox_f9p/issues/3).
I also have the same problem when using firmware 1.13 and the corresponding configs.
Sometimes the messages from the simpleRTK2Blite board keep coming for longer than usual and if so the setup seems to work as expected, including RTK.
Thanks in advance
The GitHub complaint seems to be for a device configured as a Fixed Base, ie one where you run a Survey-In operation, the receiver goes into TIME mode after it has resolved its static location, and is sending 1005 position message.
This is NOT suitable for a Moving-Base device, where two units are bound together, and are Moving, not Static. You need the 4072 message and the MSM7 ones, the MSM4 probably work in te current firmwares, but the things are wired together, so bandwidth really isn’t a massive concern.
In the STATIC/TIME mode the receiver will stop outputting RTCM when you move it beyond the threshold you defined for it.
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