Ardusimple RTK - Page 3 - The Combine Forum
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post #21 of 31 (permalink) Old 06-11-2019, 05:48 AM
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https://github.com/aortner/f9dualheadingarduinomega


here is my first test and example of a dual heading and roll system with 2 ublox f9 and one arduino mega.

agopen is connected to the arduino mega receives nmea and sends rtcm.

mega is connected via uart to both f9.

passes trough nmea form first and parses and calculates heading und roll from second f9

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post #22 of 31 (permalink) Old 06-11-2019, 11:03 AM Thread Starter
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Originally Posted by Andreas Ortner View Post
https://github.com/aortner/f9dualheadingarduinomega


here is my first test and example of a dual heading and roll system with 2 ublox f9 and one arduino mega.

agopen is connected to the arduino mega receives nmea and sends rtcm.

mega is connected via uart to both f9.

passes trough nmea form first and parses and calculates heading und roll from second f9

Cool! is there any plan to put it all in 1 sentence like PAOGI ?

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post #23 of 31 (permalink) Old 06-11-2019, 12:23 PM
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Cool! is there any plan to put it all in 1 sentence like PAOGI ?
would not be the big problem..

needs some extra coding at agopen to parse heading as headinghdt.. maybe a paogi2..

and have the filter at arduino side for this..

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post #24 of 31 (permalink) Old 06-11-2019, 03:02 PM
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[It won't let me post a quote...]

How did you configure the F9P receivers? Do you have the first receiver (A) configured as Movingbaseline-Base? Or do you have the two configured as a standard RTK base and RTK rover?
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post #25 of 31 (permalink) Old 06-11-2019, 03:25 PM
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[It says I can post links now. I'll see if it works...]

[It still won't let me post links... Something about message count. I have about had it with TheCombineForum...]

I used the configuration files from here to set up moving baseline:
Search for "ublox-C099_F9P-uCS" and "github"

I had to swap uart1 and uart2 in the configuration to get it to work with the ArduSimple boards. And if you are using the radios instead of wires between the boards you probably have to lower the baud rate for the board-to-board connection.
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post #26 of 31 (permalink) Old 06-11-2019, 03:53 PM
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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
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post #27 of 31 (permalink) Old 06-11-2019, 04:13 PM
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Originally Posted by Jays_Truck View Post
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.
no, i am not providing the same rtcm to the two boards.

receiver A is getting rtcm from my base via agopen-arduino mega - uart to f9
receievr a is also running as moving base and provids itself rtcm to receiver B via xbee uart

i would also add the two config file at my repro the next days.
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post #28 of 31 (permalink) Old 06-11-2019, 07:34 PM
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Can you still use ardusimple LORA radios to get RTCM messages if you want to go that route?
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post #29 of 31 (permalink) Old 06-11-2019, 09:00 PM
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Originally Posted by Jays_Truck View Post
Can you still use ardusimple LORA radios to get RTCM messages if you want to go that route?
I would think the arduSimple xbee socket or any other radio could provide the RTK correction instead of the way Andreas is doing it.
ntrip -> AgOpen -> Arduino -> arduSimple
would become
Radio/Lora -> arduSimple
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post #30 of 31 (permalink) Old 06-12-2019, 12:26 AM
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It looks like the ArduSimple heading daughter board has xbee pass-through on it so it should work with LORA still. I haven't seen a schematic, but I imagine the LORA radio input will go simultaneously to both F9P units through the xbee socket.

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