Andreas, At first I had the same question as jsampson but after looking at your code it appears you are providing RTCM corrections to both boards and calculating heading based on the relative position of one antenna to the other, then you are using the MEGA to calculate the roll and heading from the difference of the two receivers and sending it to AGOPENGPS and AGOPEN is sinding back RTCM to both boards via the NTRIP caster.
Is my assessment of your code correct? And could we see a picture of your setup? I'm sure i know how you are physically wireing the two boards to the MEGA but just want to make sure.
I am assuming that your main receiver is off center from the tractor and you are accounting for this within the antenna offset in AGOPENGPS?
Excellent work! This looks like a simple solution to obtain roll/heading and fix data.
Last edited by Jays_Truck; 06-11-2019 at 04:01 PM.
Reason: Revised assumptions