I am using two Arduino boards connected to two Sparkfun ZED F49P. The two Arduino boards are connected to each other via UART. One of them acts as a base station while the other acts as the Rover. From this repo (https://github.com/sparkfun/SparkFun_Ub … es/ZED-F9P), I am using Example 3 and Example 5 as the base codes for the base station and rover, respectively. I have done some slight modifications in both of the codes like adding some header to identify the start of the RTCM-packets and so on.
I can successfully transmit the RTCM bytes from the base station. On the rover side, I look for the headers to identify the start and end of the packets. I store all the bytes on the packets and push the bytes using “myGPS.pushRawData(((uint8_t *)&store), numBytes)”. The push is successful, or at least it says the push is successful. But I am not getting the relative position. It is printing out zeros with “None” as carrier Solution Type. Can anyone please explain the correct way to push the data or store the data before pushing?
Thank you Paul for your reply. Yes, I have removed the header before pushing the data into the ZED. I tried without using the header initially. With that, it would push the bytes before collecting all the bytes in one packet, like only 4 bytes at a time. Should all the bytes be collected before pushing into the ZED? Also, the number of bytes fluctuates in each packet. I think that is because I have enabled different message types (1005, 1074, 1084, 1094, 1124 and 1230). Should I enable only one RTCM message?
Thank you Paul for the documentation. I was implementing the UART communications using Arduinos rather than the UART provided by ZED-F9P’s UART 2 pins. Is “Serial1” defined for the UART2 connection in examples 3 and 5 in the GitHub repo?
It depends on which board you are using. Most use “Serial” for the console (Serial Monitor) and then provide an extra hardware serial port on Serial1. Others use SerialUSB + Serial. Please change Serial1 to whatever hardware serial port your board supports.
Thank you for the response. I am aware of the Serial1 and Serial commands for the Arduino. But, if I connect directly using UART2 in ZED F9P (as shown in Figure 16 of “https://www.u-blox.com/sites/default/fi … 093%29.pdf”), what command should I use to push the bytes into ZED F9P?
Hmm. If I am utilizing the UART 2 connection to push RTCM bytes (connecting TXD2 of the base to RXD2 of the rover), without using Arduino’s UARTs to establish the communication between base and rover, are the bytes received by RXD2 automatically used to compute the relative position?
Yes. Please re-read the u-blox application note. You may need to use u-center to make sure that the UART2 on the rover is configured to accept RTCM data.
Thanks. I got it to work. However, I was not able to use the Example3_StartRTCMBase from the new reop with the Arduino Micro I have due to the larger size of the sketch file. What is the difference between the latest one and the one from the archived repo? I see the use of “packetUBXNAVSVIN” in the newer version. Will this affect my survey-in process?
