Common: Septentrio page details dual antenna setup #5583
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we will need to add a link to this PR in future-wiki-changes.rst when the code merges |
rmackay9
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I've updated this now including adding a link on the future wiki changes page. I could not find the Unicore page on our wiki so I haven't added a link to that page. |
Hwurzburg
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I have separated the link so as to be able to merge and will do so..it should refer to this PR which meres on 4.5 release...I have added the antenna offset info link |
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| See the :ref:`<antenna_offsets>` section for a diagram illustrating the directions of these offsets. | ||
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| Note that the yaw calculation requires the GPS have an RTK fixed lock and the yaw calculation is only correct while the vehicle is upright so it should not be used on vehicle that spend significant time at extreme lean angles (e.g tail sitters). |
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I have been using this board, model mosaic-h, for two years. As far as I know, the yaw output does not require the rtk fixed state, only the satellite status is good and 3D locked.
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| - :ref:`GPS_TYPE <GPS_TYPE>` = 26 (SBF-DualAntenna) | ||
| - :ref:`GPS_MB1_TYPE <GPS_MB1_TYPE>` = 1 (RelativeToCustomBase) | ||
| - :ref:`GPS_MB1_OFS_X <GPS_MB1_OFS_X>`, :ref:`GPS_MB1_OFS_Y <GPS_MB1_OFS_Y>` and :ref:`GPS_MB1_OFS_Z <GPS_MB1_OFS_Z>` to match the offset of the main antenna from the second in meters. For example if the second antenna is 50cm to the right of main antenna set :ref:`GPS_MB1_OFS_Y <GPS_MB1_OFS_Y>` = -0.5. |
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Is antenna offset now mandatory? There is no need to set the offset when using it before, you only need to set the heading output offset of the board.
In this merged pr, will the firmware automatically configure the heading offset value of the board after setting gps_mb1_ofs_xy?
PR ArduPilot/ardupilot#25601 adds support for GPS-for-yaw when using a single Septentrio GPS with two antennas. This is new for 4.5.
This has been tested locally and looks OK to me.