Set pixhawk flight priority to RTK GPS

Hi Guys, 

I think this is a very basic question, but still couldn't get a solid guide line from google or the forum till thus far. From what I can gather, Pixhawk auto-pilots use extended kalman filters to accurately determine its position & orientation based on input IMU and GPS data.

RTK positioning has recently become very easily available (with Reach, Piksi, RTKite, Drotek...etc.) So given that I have a RTK GPS system integrated on Pixhawk, which parameters can I set in Mission planner to set higher priority to the GPS data for navigation? I basically want to ensure that my auto-pilot flies as accurate as possible 

Again, I presume that this topic has been discussed a bunch of times, and that I'm probably asking a stupid question... but I'll really appreciate if someone could please just point me to the precise Pixhawk settings. Thank you in advance.  

You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –

Replies

  • hey Dmitriy, thanks for the reply, but that's not exactly what I'm looking for. That's just how to enable a RTK system on Pixhawk and send correction data through the same comms link with GPS injection.

    I'm looking for the necessary flight path priority settings between GPS and IMU data within Pixhawk. In other words, I now that Pixhawk receives GPS and IMU data and sends it through an EKF (extended kalman filter) to determine how it should fly during autonomous mode to stay on a certain flight path. So now I basically want to tell Pixhawk, "my GPS input" is very good, so it should put the priority of GPS input data above the input of IMU data when determining how to fly... and therefor fly more accurately, due to the RTK GPS data being centimeter level accuracy. 

  • Hi, 

    I hope this will help: 

    https://docs.emlid.com/reach/apm-integration/

    There you can find solution: 

    Set GPS_AUTO_SWITCH to "1" - Enabled. Pixhawk will automatically switch between the two GPS receivers, picking the one with better solution.

  • No one any feedback?

This reply was deleted.

Activity

DIY Robocars via Twitter
RT @chr1sa: Donkeycar 4.4 released with tons of new features, including path learning (useful with GPS outdoors), better Web and Lidar supp…
Nov 27, 2022
DIY Robocars via Twitter
RT @NXP: We are already biting our nails in anticipation of the #NXPCupEMEA challenge! 😉 Did you know there are great cash prizes to be won…
Nov 24, 2022
DIY Robocars via Twitter
RT @gclue_akira: レースまであと3日。今回のコースは激ムズかも。あと一歩 #jetracer https://t.co/GKcEjImQ3t
Nov 24, 2022
DIY Robocars via Twitter
UC Berkeley's DIY robocar program https://roar.berkeley.edu/
Nov 24, 2022
DIY Robocars via Twitter
RT @chr1sa: The next @DIYRobocars autonomous car race at @circuitlaunch will be on Sat, Dec 10. Thrills, spills and a Brazilian BBQ. Fun…
Nov 24, 2022
DIY Robocars via Twitter
RT @arthiak_tc: Donkey car platform ... Still training uses behavioral cloning #TCXpo #diyrobocar @OttawaAVGroup https://t.co/PHBYwlFlnE
Nov 20, 2022
DIY Robocars via Twitter
RT @emurmur77: Points for style. @donkeycar racing in @diyrobocars at @UCSDJacobs thanks @chr1sa for taking the video. https://t.co/Y2hMyj1…
Nov 20, 2022
DIY Robocars via Twitter
RT @SmallpixelCar: Going to @diyrobocars race at @UCSDJacobs https://t.co/Rrf9vDJ8TJ
Nov 8, 2022
DIY Robocars via Twitter
RT @SmallpixelCar: Race @diyrobocars at @UCSDJacobs thanks @chr1sa for taking the video. https://t.co/kK686Hb9Ej
Nov 8, 2022
DIY Robocars via Twitter
RT @PiWarsRobotics: Presenting: the Hacky Racers Robotic Racing Series in collaboration with #PiWars. Find out more and register your inter…
Oct 23, 2022
DIY Robocars via Twitter
RT @Hacky_Racers: There will be three classes at this event: A4, A2, and Hacky Racer! A4 and A2 are based around UK paper sizing and existi…
Oct 23, 2022
DIY Robocars via Twitter
Oct 23, 2022
DIY Robocars via Twitter
Oct 19, 2022
DIY Robocars via Twitter
Oct 18, 2022
DIY Robocars via Twitter
RT @NeaveEng: Calling all UK based folks interested in @diyrobocars, @f1tenth, @donkey_car, and similar robot racing competitions! @hacky_r…
Oct 13, 2022
DIY Robocars via Twitter
RT @araffin2: 🏎️ After hours of video editing, I'm happy to share a best of my Twitch videos on learning to race with RL. 🏎️ Each part is…
Oct 13, 2022
More…