Recently, I've added RTK GPS module on my PIXHAWK(firmware 3.3.3).

I checked the Ublox's GPS protocal was NEMA 0183 which inluded GPGGA GPGSA GPGSV GPRMC GPVTG GPGLL.

But my RTK GPS module can give BESTVELA.

So I wonder if  PIXHAWK can receive the GPS protocal BESTVELA.

From the flightdata, there is no IVNIVEIVD,

It means that pixhawk only use 2D position.

Any ideas? thanks.








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