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single point positioning by F9P

  1. RTKLIB settings.

Change inpstr1-path of $HOME/RTKLIB/app/rtkrcv/conf/rtklib_ros_bridge_single.conf according to the serial device you use.

ie)

inpstr1-path =/serial/by-id/usb-u-blox_AG_-_www.u-blox.com_u-blox_GNSS_receiver-if00:230400:8:n:1:off

  1. nmea_comms settings.

Change arg name="port" of $HOME/catkin_ws/src/nmea_comms/launch/f9p_nmea_sentence.launch according to the serial device you use.

ie)

<arg name="port" default="/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_AG0JNPDS-if00-port0" />

  1. GNSS receiver settings. Configure the receiver settings using u-center.
  • UART1(Connect to RTKLIB) Enable UBX message (output rate 5Hz, baudrate 230400) ※ Set to output only RAWX and SFRBX
  • UART2(Connect to nmea_comms) Enable NMEA message (output rate 1Hz, baudrate 115200) ※ Set to output only GGA and RMC

This file (eagleye_f9p_conf.txt) is a sample configuration file for F9P.
Open u-center.
Tools/Receiver Configuration.../Load configuration "Transfer file -> GNSS"

To load the configuration, change the ublox FW version to 1.10.

Real Time Kinematic by F9P

  1. RTKLIB settings.

Change inpstr1-path, inpstr2-path, inpstr2-format, and ant2-postype of $HOME/RTKLIB/app/rtkrcv/conf/rtklib_ros_bridge_meijo_rtk.conf according to the serial device you use.

ie)

inpstr1-path =/serial/by-id/usb-u-blox_AG_-_www.u-blox.com_u-blox_GNSS_receiver-if00:230400:8:n:1:off
inpstr2-path =:@rtk2go.com:2101/Meijo-Ublox
inpstr2-format =ubx
ant2-postype =llh # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm,6:raw)
ant2-pos1 =35.1348599331534 # (deg|m) If ant2-postype is llh or xyz, the position of the reference station must be specified by ant2-pos1, ant2-pos2, and ant2-pos3.
ant2-pos2 =136.973613158051 # (deg|m)
ant2-pos3 =102.502548295454 # (m|m)

  1. nmea_comms settings.

Change arg name="port" of $HOME/catkin_ws/src/nmea_comms/launch/f9p_nmea_sentence.launch according to the serial device you use.

ie)

<arg name="port" default="/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_AG0JNPDS-if00-port0" />

  1. GNSS receiver settings. Configure the receiver settings using u-center.

The following is a sample configuration file for F9P.

(1) Settings for receivers that output aircraft that output NMEA (positioning results RTK'd by the F9P internal engine)
eagleye_f9p_nmea_conf.txt
https://www.dropbox.com/s/3viqyqutipn5dpj/eagleye_f9p_nmea_conf.txt?dl=0
(2) Settings for receivers that measure RAW data through RTKLIB and output Doppler velocity.
eagleye_f9p_raw_conf.txt
https://www.dropbox.com/s/acz98v30rtgbmsx/eagleye_f9p_raw_conf.txt?dl=0
Open u-center.
Tools/Receiver Configuration.../Load configuration "Transfer file -> GNSS"

To load the configuration, change the ublox FW version to 1.10.