Add wiki for Trimble PX-1

common/source/docs/common-gps-trimble.rst → common/source/docs/common-gps-trimble-bd930.rst

@@ -1,4 +1,5 @@
-.. _common-gps-trimble:
+.. _common-gps-trimble-bd930:
+
 
 =====================
 Trimble BD930 RTK GPS
@@ -7,7 +8,7 @@ Trimble BD930 RTK GPS
 .. note:: This product is no longer being manufactured
 
 
-The Tirmble BD930 RTK GPS is a relatively expensive but also highly accurate RTK GPS.  Detailed `information from the manufacturer can be found here <http://www.trimble.com/gnss-inertial/bd930.aspx?dtID=overview/>`__.
+The Trimble BD930 RTK GPS is a relatively expensive but also highly accurate RTK GPS.  Detailed `information from the manufacturer can be found here <http://www.trimble.com/gnss-inertial/bd930.aspx?dtID=overview/>`__.
 
 .. image:: ../../../images/gps-trimble.jpg
 	:target: ../_images/gps-trimble.jpg

common/source/docs/common-gps-trimble-px1.rst

@@ -0,0 +1,29 @@
+.. _common-gps-trimble-px1:
+
+
+=====================
+Trimble PX-1 RTX
+=====================
+
+The Trimble PX-1 RTX is a relatively expensive but also highly accurate RTX GNSS+INS.
+It supports corrections from a satellite or cellular network through `CenterPoint® RTX Correction service <https://positioningservices.trimble.com/en/rtx>`__.
+RTX provides centimeter accuracy without the use of a base station.
+Although the PX-1 is designed to be used as an external inertial navigation system, it is also supported for use as a strict GPS in ArduPilot.
+Detailed `information from the manufacturer can be found here <https://advancedairmobility.trimble.com/>`__.
+
+Parameter Setup
+----------------------
+
+The following instructions assume the PX-1 is your first GPS. If you have configured it as a second GPS, change all parameter names.
+
+- :ref:`GPS_COM_PORT <GPS_COM_PORT>` = 1 (to use COM2, the TTL output of the PX-1) or 3 (to use COM1, the RS232 output of the PX-1)
+- :ref:`GPS_TYPE <GPS_TYPE>` = 11 (for GSOF)
+- :ref:`SERIAL3_PROTOCOL <SERIAL3_PROTOCOL>` = 5 (to use GPS)
+
+The following parameters are not yet supported by GSOF:
+- :ref:`GPS_RATE_MS<GPS_RATE_MS>`
+- :ref:`GPS_AUTO_CONFIG<GPS_AUTO_CONFIG>`
+- :ref:`GPS_SAVE_CFG<GPS_SAVE_CFG>`
+- :ref:`GPS_GNSS_MODE<GPS_GNSS_MODE>`
+- :ref:`GPS_RAW_DATA<GPS_RAW_DATA>`
+- :ref:`GPS_NAVFILTER<GPS_NAVFILTER>`

common/source/docs/common-positioning-landing-page.rst

@@ -42,7 +42,7 @@ GPS/Compass
 RTK GPS
 =======
 
-These GPS can incorporate real time kinematic data, either internally generated or externally provided, to improve the precision of the position estimate from the normal GPS meter range down to the cenitmeter range (see :ref:`common-rtk-correction`). This increased precision also allows for "Moving Baseline" yaw estimates using two devices on a vehicle with certain RTK GPSes (F9P based) or dedicated Moving Baseline GPSes. See :ref:`common-gps-for-yaw`.
+These GPS can incorporate real time kinematic data, either internally generated or externally provided, to improve the precision of the position estimate from the normal GPS meter range down to the centimeter range (see :ref:`common-rtk-correction`). This increased precision also allows for "Moving Baseline" yaw estimates using two devices on a vehicle with certain RTK GPSes (F9P based) or dedicated Moving Baseline GPSes. See :ref:`common-gps-for-yaw`.
 
 .. toctree::
     :maxdepth: 1
@@ -69,7 +69,8 @@ These GPS can incorporate real time kinematic data, either internally generated
     Swift Navigation's Piksi Multi RTK GPS Receiver <common-piksi-multi-rtk-receiver>
     Septentrio AsteRx-mUAS RTK GPS <common-gps-septentrio>
     Synerx MDU-2000 RTK + LTE GPS <common-synerex-mdu-2000>
-    Trimble BD930 RTK GPS <common-gps-trimble>
+    Trimble BD930 RTK GNSS <common-gps-trimble-bd930>
+    Trimble PX-1 RTX GNSS+INS <common-gps-trimble-px1>
 
 .. note:: It is important that a GPS be connected to the first SERIALx port that has its ``SERIALx_PROTOCOL`` parameter set to "5" (GPS) since it will stop searching for GPS during bootup if not found on the first port configured for GPS protocol.