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Autonomous Surface Vehicle using ArduSub and RTK

Hi everyone,
I am planning to build an autonomous surface vehicle using Ardusub and c94-m8p RTK Gps. I have tested RTK in ArduPlane firmware and it is giving accurate gps values. The QGC automatically detect Base station RTK module when the Pixhawk firmware is ArduPlane. I would like to introduce the same in ArduSub also.
Can anyone help me to do this?


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To start you have to use an underwater positioning system like Waterlinked or an USBL system.
Then you can send your topside position and heading from a RTK system to the positioning system.
After that you probably want to send the real world position to the ROV to get the information in QGC and in the video texting files. (Using Waterlinked that is automatic)