DRIVER FEATURES:
- All logic for RTK vs Normal now lives inside Piksi
- Supports observation uplink through telem radio
- Supports full SBP packet logging
- Reports high-rate green blinking to indicate RTK lock.
- Switchable to accept only Float or Integer RTK locks.
THIS REQUIRES PIKSI FIRMWARE v0.14 OR HIGHER
- Uses Piksi's new Pseudo-Absolute-Positioning mode
- Onboard Piksi must have Pseudo-Absolute mode enabled
- Ground Station Piksi must have a surveyed location in settings
- Ground Station Piksi must send its location to Onboard Piksi.
NEXT STEPS REQUIRED:
- EKF needs to take higher accuracy GPS into account
- EKF needs to take GPS RTK height into account
- GCS needs to support sending SBP observation packets
--- MAVProxy patch forthcoming
This is the SBP driver for Piksi, Lodestar and other forthcoming Swift Navigation GPSes.
This driver currently implements three things:
- Implements a lightweight SBP protocol detection system
- Implements Piksi as a single-point-positioning GPS (same as ublox/others)
- Implements hardware logging of GPS health and baseline messages
Forthcoming iin future updates:
- Need to implement the RTK functionality
Niels Joubert
Andrew Tridgell