I am developing a competitively priced multibeam surveying platform using the BlueBoat USV, Cerulean Sonar Surveyor Multibeam, Doodle labs mesh rider radios in boat and base station (replacing the Mikrotik), ArduSimple RTK GNSS dual antenna compass kit (boat side), and ArduSimple RTK Smart Antenna as a broadcasting base. I have configured everything, and it is working as expected, save one thing. When the boat is turned on, the onboard GNSS boots up and gets a rapid satellite fix, and gives a status of 3D GPS Fix.
When the GNSS Base unit is then turned on, the GPS status changes to RTK fixed, 3D Position, exactly how I want it. This screenshot shows RTK Float, 3D Position as I am testing inside a metal sided and roofed building, when units are outside it will say RTK Fixed, 3D Position.
I wanted to simulate losing connectivity with the RTK GNSS base. When I completely turn off the Base station GNSS, the status on the GPS on the BlueBoat (in BlueOS, Cockpit, and QGC) does not revert to 3D GPS Fix, but remains RTK Fixed, 3D Position. The status only reverts to 3D GPS Fix when I completely reboot the Navigator. Has anyone else experienced this or have any insight?
Here are some pics of the boat, base radio, and GNSS base.
