Hi all,
I’m currently integrating the Holybro Unicore UM982 into a blueboat. Horizontal and vertical accuracy are down to the centimeter level, however the vertical and positional uncertainty look like they’re fixed at their max values. The following are the only parameters changed from default:
SERIAL1_PROTOCOL = GPS
GPS1_MB_TYPE = RelativeToCustomBase
GPS1_TYPE = UnicoreMovingBaseline
GPS1_MB_OFSX,Y,Z = (Distances measured from slave antenna to master)
EK3_SRC1_YAW = 2(GPS)
EK3_ENABLE = Enabled
AHRS_EKF_TYPE = 3(use EK3)
GPS_POS1_X,Y,Z = (Distances measured from origin of blueboat to master antenna)
Is there any changed in the parameters that would cause this? Also, would this affect navigation much since it’s not an aerial drone?
Thanks.
Hi @JColumb -
I’m able to achieve better lock with the holybro F9P units (an no external correction source):
Your settings look ok, but how do you have GPS2 configured? And have you disconnected the standard BlueBoat GPS? If you’re able to share a .BIN log from when the system was outside an locked in, I can compare both your parameters and the behavior to my own setup!
Are you receiving any corrections over the internet via the Ntrip extension?
Hi @tony-white ,
I’ve attached my parameters file and a log file from a test deployment. I’ve disconnected the original GPS. I’ve also left GPS2 unconfigured, maybe this was due to some confusion with the Holybro documentation. Thanks for your help.
00000028.BIN (660 KB)
Surface Boat-4.6.3-STABLE-20260714-130802.params (17.8 KB)
