Skip to content

Setup & Getting Started (Ardupilot)

Use as a Rover (Aircraft) Unit

Ardupilot 4.4.0 stable firmware currently also supports Mosaic GPS, but does not yet support dual-antenna Heading. Dual-antenna heading is supported in 4.5.0 and later.

FW 4.4.0-4.4.4

To set up using GPS1 input, configure these parameters:

Note: Using serial3 as an example
  • GPS_INJECT_TO = 0 (send to first GPS)
  • GPS1_RATE_MS = 100
  • GPS1_TYPE = 10 (SBF)
  • SERIAL3_BAUD = 230
  • SERIAL3_PROTOCOL = 5 (GPS)

To setup this using GPS2 input (serial4) configure these parameters:

Note: Using serial4 as an example
  • GPS_INJECT_TO = 1 (send to 2nd GPS)
  • GPS2_RATE_MS = 100
  • GPS2_TYPE = 10 (SBF)
  • SERIAL4_BAUD = 230
  • SERIAL4_PROTOCOL = 5 (GPS)

If you want to inject RTCM corrections to both GPS1 and GPS2, then use:

  • GPS_INJECT_TO= 127 (send to all)

FW 4.5.0+

In ArduPilot 4.5 (or higher), a single unit with two antennas may also be used for GPS for Yaw. If a single unit with two antennas is used, please set the following parameters:

  • GPSx_TYPE = 26 (SBF-DualAntenna)
  • GPSx_MB_TYPE = 1 (RelativeToCustomBase)
  • GPSx_MB_OFS_X and GPSx_MB_OFS_Y, and GPSx_MB_OFS_Z to match the offset of the main antenna from the second in meters. For example, if the second antenna is 50cm to the right of the main antenna, set GPSx_MB_OFS_Y.
  • EK3_SRC1_YAW = 2 (GPS)

Antennas Setup

In addition, both antennas (“Master” and “Slave”) must be attached and positioned at least 30cm apart. The location of the vehicle is flexible, but their positions impact several parameters which must be set in order to obtain proper operation. These offset distances in the x/y/z directions must be entered for the following parameters:

  • GPS1_MB_TYPE = 1 (GPS1 Moving Baseline master antenna offsets relative to slave antenna, also enables the next parameters to be shown)
  • GPS1_MB_OFS_X: offset in meters from the "Slave" to "Master" antenna in the X axis (in direction of 0 deg yaw, positive offsets are if "Master" is in front of the "Slave".
  • GPS1_MB_OFS_Y: offset in meters from the "Slave" to "Master" antenna in the Y axis (in direction 90 deg (right) of 0 deg yaw, positive offsets are if "Master" to the right of the "Slave".
  • GPS1_MB_OFS_Z:: offset in meters from the "Slave" to "Master" antenna in the Z axis (in direction up and down, positive offsets are if "Master" is below the "Slave".

A complete dual antenna configuration guide can be found in the link below: