GPS-RTK2 Rover config example sketch?

[3DT_BW]

I love the Sparkfun u-Blox librarie’s examples to learn, understand (and play around with) 2x GPS-RTK2 modules!

I’m after getting RTK accuracy on a rover. To understand my project, think of a lawn mower setup, with a base on the roof of my house.

Doing so, I was able to get a base station publishing RTCM messages over UART2, using Example3_StartRTCMBase.

I’m reading these on a Pi (on serial0) and streaming them over my LAN (with str2str). All good so far.

On the rover end, I’m struggling to use this RTCM stream to get a RTK fix on the GPS-RTK2. At all!

Again on a Pi, I’m forwarding the RTCM stream onto UART2 of the rover RTK2 module (str2str).

I read somewhere that the ZED-F9P is supposed to “pick up automatically on any RTCM stream it is provided with”. Doesn’t happen here :o

Question: is there an example sketch for a basic rover config of the RTK2 module (like Example3 for the base)?

It would allow me to understand what I’m missing, and how to configure the rover module…

Thank you!

[3DT_BW]

FYI, I ended up using a default Base + Rover configuration from uBlox’s github page… I still think compatible, proven-to-work Base + Rover example sketches + indication on corresponding wiring would make sense in the Sparkfun uBlox library. To anyone it might help: I now output RTCM over UART1 (on the Base), and receive it on UART2 (on the Rover). Attention to matching baudrates of course. For some unidentified reasons at the time of writing, I didn’t manage to get running yet: 1) Using Survey-In (using manual coordinates now), 2) Outputting RTCM over UART2 (on the Base). I have occasionnally seen 0.0141 accuracy estimate! Wow!