BlueBoat RTK GPS feed

Blue Robotics Vehicles BlueBoat
2

Hi @CA_BlueBoat -
The ArduPilot driver can parse these NMEA messages:

_GPS_SENTENCE_RMC = 32,
        _GPS_SENTENCE_GGA = 64,
        _GPS_SENTENCE_VTG = 96,
        _GPS_SENTENCE_HDT = 128,
        _GPS_SENTENCE_PHD = 138, // extension for AllyStar GPS modules
        _GPS_SENTENCE_THS = 160, // True heading with quality indicator, available on Trimble MB-Two
        _GPS_SENTENCE_KSXT = 170, // extension for Unicore, 21 fields
        _GPS_SENTENCE_AGRICA = 193, // extension for Unicore, 65 fields
        _GPS_SENTENCE_VERSIONA = 270, // extension for Unicore, version, 10 fields
        _GPS_SENTENCE_UNIHEADINGA = 290, // extension for Unicore, uniheadinga, 20 fields
        _GPS_SENTENCE_OTHER = 0

At a minumum, the system requires GGA and RMC messages. VTG seems to be good-to-have, and, as you want to consume heading/yaw, HDT.

Critically, the nmea injector in BlueOS does not support HDT. In order for ardupilot to consume HDT, you have to bypass nmea-injector.
Go to the autopilot firmware page, and set SERIAL2 to udpin:0.0.0.0:27000
image
set the parameter SERIAL2_PROTOCOL to GPS
set the parameter GPS_TYPE to NMEA
set EK3_SRC1_YAW to GPS
restart the autopilot

That should work!

  • There’s a “hard timeout” after 4 seconds which causes the driver to re-scan if essential messages are missing. If you see multiple “GPS1: detected as NMEA” messages, that means something is wrong/missing.
  • We recommend trying to send the messages at 10hz or more
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