WE using a Extarnal GNss RTk device, with dual atenna, We can send it position and speed information, but not the heading. The Blueboat’s magnetic heading is giving us a lot of trouble, and we want to use the one coming from the dual antenna through the UDP port. Can anyone give me instructions on how to do this?
Thanks
Hi @juanjepalomeke -
As noted in the FAQ. on the BlueBoat product page, you simply need to include the HDT message at the correct rate!
We make this configuration in blueos, we view gga, vtg and rmc with no problems but the system cant to read or use the hdt.
I don’t know if we’re doing something wrong or not, but it only recognizes position and speed messages.
We send all messages via udp… 27000 .. at 10hz
I don’t know what we’re doing wrong, maybe by doing it in Blue OS and not in the QGround configuration?
Hi @juanjepalomeke -
Have you confirmed that the messages are coming through in BlueOS, via the Mavlink Inspector (in pirate mode?) QGC is just a ground control station software - it has no relevance to configuring the autopilot to receive and use NMEA messages.
If you can share a copy/paste of the messages the system is sending, and the data from Mavlink Inspector, we should be able to drill down into what might be going wrong. Sharing your autopilot .BIN log with the GPS active would also be useful!
You may need to set your EK3_src1_yaw parameter to GPS with compass fallback!
Hi Tony and thanks a Lot for your response.
We sent the hdt, gga, vtg & rmc nmea messages at 10 hz using the 27000 port. All messages out thats revised. But only gga, vtg & rmc are being used.
While searching through the forums I found this suggestion from 2017:
This supports getting yaw from a GPS that can provide it when not moving, such as the Hemisphere NMEA GPS, which uses the HDT NMEA sentence
This builds on work that @priseborough has done in EKF3 to allow for fusion of external yaw sources
To test this in SITL you need:
SIM_GPS_TYPE=5
SIM_GPS_HDG=1
COMPASS_USE=0
COMPASS_USE2=0
GPS_TYPE=16
GPS_HDG_ENABLE=1
EK3_ENABLE=1
EK3_MAG_CAL=5
I’ll check this to see if the problem is here, but from BlueOS, when the NMEA Injector is activated, it only accepts GGA, VTG, and RMC; it doesn’t mention HDT at all.
Thanks again for your support Tony
Hi @juanjepalomeke -
That post is very old… so take it with a grain of salt!
You should see a black arrow on the compass graph, found under Vehicle Setup / Compass, in the upper left:
You should NOT be using the NMEA injector if you are sending the data directly do the autopilot, via the 27000 port. Have you set serial 2 to udpin:27000 as the FAQ instructs? Please review the instructions in my first reply to you.
Morning again Tony,
We enter all your indiaction in the https://bluerobotics.com/store/boat/blueboat/blueboat/#tab-faq, We view to the GGa enter but we can yo view the HDT coming message..
I must be doing something worng… Im waiting for the log…
As you can see, the data from the dual-antenna RTK GPS is entering, but not the heading in this inspector either
Hi @juanjepalomeke -
What version of BlueOS are you using?
Do you have 2 GPS connected to the system, as is typical for RTK systems with heading? I only see one GPS icon in your screenshot - on my own system with 2x GPS there are two shown!
I’m not sure why you’re “waiting for the log” - it can be downloaded from the Log Browser, you just need to arm the vehicle for some time and disarm, then download the log and post here!
Hi there Tony,
I believe the last update was last week; the entire system was updated. We only need to update the master file, which was indicated this morning during the configuration.
No, we have a single GPS with two internal antennas, capable of sending NMEA HDT as one of its generic commands. we need to read $GPHDT
I’m in Valencia and the Blueboat is in Barcelona. Late this morning, the 5G SIM card ran out of data… We were about to download the log for you when the data ran out. I can send it to you on Monday.
Many thanks for your support
BR JJ
Hi @juanjepalomeke -
I hope this doesn’t mean you are running “master” version of BlueOS!
It’s best to only use stable - 1.4.3 currently - as anything else may have problems that could affect usage - hence the “Beta” label!
I think we only install stable versions, not betas… But I still don’t know if it’s possible to read $GPHDT commands from an external RTK GPS using UDPIN 0.0.0.0:27000
Hi @juanjepalomeke -
It definitely is possible, we’ve had no issues doing just that on multiple vehicles. I suspect the message isn’t being sent, or not sent fast enough, or some other configuration issue is present. We shall see!
Tony:
In the BlueOS menu where it says ‘NMEA injector’ we left it blank, with nothing.
We have changed the following parameters:
in the autopilot firmware:
SerialPortConfig → Serial2 to: udpin:0.0.0.0:27000
And from NAvaq (Survey software) we write to :
192.168.25.255:27000 $GPGGA, $GPRMC, $GPVTG & $GPHADT at 10Hz.
At the moment i hace the Log a I rensend to you.
Thanks for your help and support
Hi @juanjepalomeke -
I assume the GPHADT is a typo - you actually need to be sending GPHDT for heading values.
I also assume your vehicle IP address has been changed to 192.168.25. 255 ?
I’m also not sure why you’re setting up GPS2 to be your primary GPS? But the parameters look correct otherwise. The .BIN log will let us troubleshoot further.
Yep, i make a mistake tipo… sorry
The ip adres is for send the data to al range, thats say Joost mars to us.. the father of survey soft
And we view all incoming data, with the exception of the heading, it doesn’t appear, its as if it doesn’t read or understand it…
im wating to to recieve the log file… As soon as i have it i’ll forward it to you.
Thanks again
Hi @juanjepalomeke -
Maybe try targeting the GPS at 192.168.25.2 (address of your vehicle?) directly?
If you can copy and paste the raw messages being sent by the GPS, that would also help!
Hello there
That was tested in the first place, the result is the same. I mes in the same ip.
We view position from the external GPS rtk, but no the gphdt…
Tomorrow i can pass to you the log file.
Thanks again Tony.
Hello there Tony,
It seems we’ve found where the mistake was.
First.- You are right that the UPD messages has to be directed to de Blueboats’s physical IP address..
Second.- We couldn’t see the data from the GPS because we were always thinking of the external RTK GPS like GPS2, but the generic GPS that is plugged into the Navigator, in our case it was serial 5, therefore it was actually GPS1 by the reading order of the Ardupilot …
We’re now receiving data from the external HDT, but occasionally a zero appears in the reading, and we don’t know why. What solution do you propose?
Is there any way to avoid zero values, perhaps by averaging readings? What’s going on?
I’m sending you the log, in case you want to take a look.
And thanks a lot for your support and patiente
00000392.BIN (4.8 MB)
Hi @juanjepalomeke -
Glad you got things more figured out! The logs show the GPS is indeed sending 0 for heading on occasion - I think this can occur if the two antennas are not spaced out far enough, and an estimation of heading fails… it would be ideal to fix this on the GPS side, rather than get the autopilot to ignore the 0 values - as sometimes you may be heading due north (0 degrees!)
I would consult the documentation for your GPS and verify the spacing of the antennas is at least 1 to 1.5m, and this value is known to the GPS configuration.
You could also try configuring the autopilot to use the magnetic compass as a fallback, but this would only work if the GPS is able to report that the quality of the estiamtion is poor…