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.

To setup this using GPS1 input, configure these parameters:

Using serial3 as example

• GPS_INJECT_TO = 0 (send to first GPS)

• GPS_RATE_MS = 100

• GPS_TYPE = 10 (SBF)

• SERIAL3_BAUD = 115

• SERIAL3_PROTOCOL = 5 (GPS)

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

Using serial4 as example

• GPS_INJECT_TO = 1 (send to 2nd GPS)

• GPS_RATE_MS = 100

• GPS_TYPE = 10 (SBF)

• SERIAL4_BAUD = 115

• 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)

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:

• GPS_TYPE = 26 (SBF-DualAntenna)

• GPS_MB1_TYPE = 1 (RelativeToCustomBase)

• GPS_MB1_OFS_X and GPS_MB1_OFS_Y and GPS_MB1_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 main antenna set GPS_MB1_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 on 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:

• GPS_MB1_TYPE = 1 (GPS1 Moving Baseline master antenna offsets relative to slave antenna, also enables the next parameters to be shown)

• GPS_MB1_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".

• GPS_MB1_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".

• GPS_MB1_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" below the "Slave".

This figure and photo illustrates these parameters and their settings:

Use as Base Station

1) First download the configuration file from our website to the local computer according to the base type:

• mosaic-H_Current_moving_base.txt (mobile station)

288B

mosaic-H_Current_moving_base.txt

• mosaic-H_Current_Static_base.txt (fixed station)

308B

mosaic-H_Current_Static_base.txt

2) Connect the module to the computer through the USB-TYPEC port, open any Web browser, enter 192.168.3.1 in the address bar to open the Mosaic-H configuration page, as shown below

3) Click Admin->Configurations to enter the configuration page

4) Click the Upload Configuration icon to upload the configuration file

6) Click OK first, then click the Save button to save the configuration

Click Admin->Reset to enter the reset page, select Soft and click OK to restart. You can also unplug the USB cable and perform a power-off restart.

7) Place the base station in an open area, click on the GNSS->Satellites and Signals page to view the satellite search status. After the Tracking and Position values are stable (as shown below), the RTCM data can be forwarded through the ground station.

Implement RTK through MissionPlanner

Connect the Mosaic-H GPS to the computer via USB port. After Mosaic-H is connected to the computer, there will be two Virtual USB COM Ports. Virtual USB COM Port 1 corresponds to USB1 in the operation interface, and Virtual USB COM Port2 corresponds to USB2. Generally, we use USB1 to transmit NMEA/GGA and other data, and then on USB2 Output RTCM data. First go to the computer device manager to view the COM port corresponding to USB2:

On the missionPlanner-> SETUP-> Optional Hardware-> RTK/GPS Inject page, connect and select the COM port corresponding to Mosaic-H Virtual USB COM Port2, and then click Connect. (Note that UBlox M8P/F9P autoconfig cannot be checked)

When Mosaic-H is used as Base station, it will automatically select the appropriate positioning accuracy based on signal quality. There is no need to set the accuracy and survey-IN time.

When the Base, Gps, Glonass, Beidou, and Galieo icons in the RTCM column all turn green, the ground station begins to send the RTCM data to the flight control through digital transmission.

Click on the MissionPlanner->DATA page, you can see that the rover side has been RTK-Fixed. (The rover side can use F9P or Mosaic-H)

Now return to the Mosaic-H configuration page, click on the NMEA/SBF Out page, and you can see that the USB2 port has started to output the RTCM data stream.