Send RTK base station corrections to ArduPilot with Mission Planner, QGroundControl and MAVProxy
This tutorial will cover how to configure MissionPlanner and QGroundControl to send base station RTK corrections to the autopilot. The instructions have been tested with simpleRTK2B, simpleRTK2Blite and simpleRTK3B GNSS receivers.
If you want to use a NTRIP service, please check this tutorial.
With Mission Planner the process is extremely easy, the instructions are the same for simpleRTK2B, simpleRTK2Blite (u-blox ZED-F9P) and simpleRTK3B (Septentrio Mosaic X5) receivers:
Configure your GNSS receiver as a base station
Connect the GNSS receiver to your PC
Connect the autopilot or radio telemetry link to your PC
Open Mission Planner and connect to your autopilot as usual
In Mission Planner, go to SETUP >> Optional Hardware > RTK/GPS Inject
Select the COM port where your GNSS base station is connected to and set the proper baudrate
Click Connect button
If everything is correct, you will see a summary of GPS signal status and generated RTCM messages as well as your GNSS base station position on the map
The GNSS receiver connected to your autopilot will receive RTCM corrections and enter into fixed/float RTK mode
When you go back to Mission Planner main screen you will see the base station position as well as your Ardupilot GNSS position:
QGroundControl detects automatically both the simpleRTK2B and simpleRTK3B boards (not simpleRTK2Blite), connected via USB to the same computer as QGroundControl runs.
It configures automatically the receiver and starts streaming corrections to the GNSS receiver mounted on the Autopilot.
We have tested the automatic configuration and the behavior is not always the expected one, so in this tutorial we will show an alternative method that also supports simpleRTK2Blite receivers as base stations and works 100% of the time.
Apart from QGroundControl, you will need to install the following (free) applications:
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