Just noticed that the "GPS of choice" for the Pixhawk 2 now appears to be "Here", and that there's an RTK version. Is there any doco on these? In particular the RTK?
What if the Lidars are managed by an on-board companion like Raspberry or TX1?
Chad Frazer said:
Dual GPS systems on drones has been around for a long time. In fact, I don't make birds without dual GPS systems. One plugs into the pixhawk 2.1 itself (GPS1) and the second one plugs into the GPS 2 slot.
There is a caveot! The GPS1 slot on the Pixhawk 2.1 is the I2C bus, like the one Pixhawk 1 has. Pixhawk 2.1 has an external I2C-2 bus, separate from the I2C bus. Currently some sensors (lidar) does NOT work on the I2C-2 external bus.
Point being, you can do dual GPS units with the Pixhawk 2.1 but you might have problems running anything else.
A problem with running 2 GPS is that when the autopilot swaps to the better Hdop GPS unit (better values) your drone will MOVE to a different position (we call it hunting, as in hunting for the right spot to be in) and it can do it 5 feet from the ground. Dangerous as hell, but a rare occurance.
As of 3.4 blended GPS is up and running, so if you wanna do dual GPS I'd read up on that logic.