Quick Start Guide

Basic Setup

Ardupilot & PX4 setup process is identical to the H-RTK mosaic-H. The only difference is that mosaic-G5 currently cannot operate as a base unit.

Setup & Getting Started (Ardupilot)Setup & Getting Started (PX4)

Enable UART2 (COM2)

H-RTK mosaic-G5 by default has UART2 (COM2) disabled, and PX4/Ardupilot auto configuration does not enable UART2 by default.

To enable UART2 output, first download and install the latest Septentrio RXTool from the URL below:

RxTools: GNSS receiver control and analysis softwareSeptentrio

Open RxControl software and establish a connection with mosaic-G5 via USB.

Once the connection is established, navigate to Communication->Output Settings->SBF Output and configure the data stream similar to the screenshot below. Ensure you set Stream1 as COM1 (you can leave SBF messages unchecked for COM1), leave Stream2 as default (Ardupilot auto-config will change Stream2 to DSK1), and check the support section for COM2 (clicking Support will auto-enable essential messages).

Don't forget to set the data interval to the desired value. (100 msec = 10Hz)

Click Apply and OK to save the configuration as current.

To save the current configuration as boot configuration, navigate to File->Copy Configuration, and select Current as source, Boot as target. Click apply and ok to save.

Configure mosaic-G5 as RTK Base Using RXTool

By default, mosaic-G5 is in rover mode, and MissionPlanner/QGC does not support auto-config for G5.

To configure mosaic-G5 as an RTK base, ensure the default firmware version is newer than 1.0.0. Early-version mosaic-G5 does not support RTK base.

Open RXTool and establish a connection with the GNSS module via USB. Open the positioning mode interface (Navigation->Position Mode), and select static mode.

In Communication->Output Settings->Differential Corrections, ensure the following RTCM messages have a 1.0s data interval:

RTCM1006+RTCM1033+RTCM1074+RTCM1084+RTCM1094+RTCM1124+RTCM1230

Navigate to Communication->Input/Ouput Selection, enable RTCMv3 messege for the desired COM/USB port.

After applying the configurations above, navigate to File->Copy Configuration, and select Current as source, Boot as target. Click apply and ok to save.