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.