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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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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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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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[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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[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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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.
 

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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.
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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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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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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it is simple with the f9. you can configure each port what is going in and what is going out..

so you can use the xbee lora to get rtcm from base station.

then you can use uart tx1 to send to the second (heading) f9
 

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Why not let gpsd (https://gpsd.gitlab.io/gpsd/index.html) running on a raspberry pi handle the gory details of receiving the data from the GPS(s) and then the data can be shared on any interface. The heavy lifting of parsing NMEA or ubx at 10Hz can be moved out of AoG and replaced by a simple json query to the gpsd daemon running on the rpi. gpsd is getting better and better support for F9P as we speak, and the new 3.19 version is about to be released.
 

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But most folks aren't using an pi with AOG, nor do I think they really need the complication of another computer in the mix. For those already using a pi for other things it might make sense.

If gpsd (or compatible program) could run on Windows alongside AOG, then that might be an option worth implementing. In the meantime I'm sure Brian is open to patches that add gpsd json requests to AOG. That's what open source is for after all.
 

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But most folks aren't using an pi with AOG.
This probably belongs in a different thread, but seeing as raspberry pi was mentioned, I was wondering today if a pi could run everything. I expect the GUI takes the most horsepower, but otherwise it could take the place of the PC and Arduino with the right shields?
 

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I think the Pi has enough horsepower to do everything. However at present AOG will not run on the pi. It depends on some x86 binary dlls, as well as winforms. If a Qt port is completed, then it would definitely run on the pi. And yes it could probably do all the things we're using arduino for as well. But then you have the problem of the touch screen, as well as power management issues. Definitely doable and it's interesting to me.
 

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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, What about using tree F9P's then you get heading roll and pitch
Jesper
 

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I think the Pi has enough horsepower to do everything. However at present AOG will not run on the pi. It depends on some x86 binary dlls, as well as winforms. If a Qt port is completed, then it would definitely run on the pi. And yes it could probably do all the things we're using arduino for as well. But then you have the problem of the touch screen, as well as power management issues. Definitely doable and it's interesting to me.
Plenty of power with the Raspberry Pi 4 now released.
 

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Also there are plenty of other similar boards that already were more capable than the Pi, such as the Orange Pi.
I have two some-sort-of pi boards, but have not touched them yet. Every review I read always comes back to the raspberry pi having the best os and user support.
 

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Cool, What about using three F9P's then you get heading roll and pitch
I'm waiting for my three-up shield board to arrive because frankly I think I need a bigger power supply, and I'm running out of UARTs

I'm of the opinion that I can do this reasonably effectively with a pair of NEO-M8P's acting as the secondary and tertiary units against the ZED-F9P primary.

Anyhow I have the parts, and will build both ways, the firmware is the same either way.
 
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