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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Replies

  • 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
    • 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

    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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