C-RTK2 HP User manual（others）

Hardware connection

UART

[!NOTE] PX4 cannot parse C-RTK 2HP heading data via Dronecan. It can be connected to the PX4 flight stack via the UART2 port to support heading.

C-RTK 2HP Config

The flight controller runs PX4 firmware and needs to install UPrecise software to configure the C-RTK2 HP receiver.

• Connect the C-RTK 2HP to the computer via USB.
• Enter the following command at the Uprecise command entry box

• press ENTER on keyboard:

  CONFIG COM2 230400 8 n 1
  GPGGA 0.2
  CONFIG HEADING FIXLENGTH
  CONFIG UNDULATION AUTO
  CONFIG
  UNIHEADINGA 0.200
  AGRICA 0.200
  MODE MOVINGBASE
  GNGGA 0.200
  GNRMC 0.200
  VERSIONA
  SAVECONFIG
  

  PX4 parameter configuration

To use heading instead of compass in PX4, you need to modify the following parameters in the QGC Ground Station>Parameters page:

Ser_gps1_baud=230400
Gps_1_protocol=6:nmea
EKF2_GPS_CTRL=15 //Using dual antenna orientation as heading source)
GPS_YAW_OFFSET  //If the primary antenna is in front, set the heading offset to 0. The angle increases clockwise, if the primary antenna is on the right side of the vehicle and the secondary antenna is on the left, set the offset to 90 degrees)
EKF2_GPS_POS_X，Y/Z //Configure the distance between the main antenna and the drone's center of gravity. If the antenna is fixed 25cm to the right of the drone's center of gravity, configure EKF2_GPS_POS_Y to 0.25)

RTK Corrections

QGroundControl and autopilot forward RTK base station RTCMv3 to C-RTK 2HP for solving. The module should then change the positioning type to RTK positioning.

The specific RTK base setting method is here.

[!NOTE] We recommend using C-RTK 9ps, such a module as RTK base rather than C-RTK 2HP, as it requires a lot of setup.