Pseudorange from Ardupilot and uBlox LEA6

Hello,

I recently started working with an Ardupilot. I have connected a uBlox LEA6 receiver to it. I am currently trying to get pseudorange data from the LEA6 and it seems like I have to get the RXM-RAW packet from the receiver. I was wondering if anyone had done this before or would have any sample code ardupilot code?

I have looked through the RTK library and the GPS_Auto but I haven't been very successful in printing out pseudorange data. I believe you need the structure from the RTK library to place into the example GPS_Auto code. However I am unsure where exactly the Ardupilot is choosing and filtering packets from so I am unsure of how to retrieve packet data.

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B Duffy November 3, 2015 at 11:30am

There are other UBLOX GPS options that put out raw as well:
- Neo 7P (easier to find these days than the Neo6P
- M8T

To verify, I have successfully used both NEO 6P and 7P with RTKLIB
- Michael Tietze > B Duffy December 16, 2015 at 3:42am
  
  Hey B_Duffy,
  
  do you have a setting file to upload to use the M8T with the pixhawk?
  
  Having problems getting it working.
  
  Thanks Michael
Developer

Doug Weibel March 3, 2013 at 8:08am

Derek,

Only the 6T and 6P modules produce the RAW data packets.

Check my blog post here for some work I did with raw carrier phase data from a 6T -

http://www.diydrones.com/profiles/blogs/proof-of-concept-test-extre...

Doug

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Pseudorange from Ardupilot and uBlox LEA6

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