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Fix up GNSS table for yaw sources (#3399)
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hamishwillee authored Oct 5, 2024
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Expand Up @@ -20,41 +20,43 @@ The RTK compatible devices below that are expected to work with PX4 (it omits di
The table indicates devices that also output yaw, and that can provide yaw when two on-vehicle units are used.
It also highlights devices that connect via the CAN bus, and those which support PPK (Post-Processing Kinematic).

Device | GPS | Compass | [DroneCAN](../dronecan/index.md) | [GPS Yaw](#configuring-gps-as-yaw-heading-source) | [Dual F9P GPS Heading](../gps_compass/u-blox_f9p_heading.md) | PPK
:--- | :---: | :---: | :---: | :---: | :---: | :---:
[ARK RTK GPS](https://arkelectron.com/product/ark-rtk-gps/) | F9P | ICM42688p | ✓ | | ✓ |
[CUAV C-RTK GPS](../gps_compass/rtk_gps_cuav_c-rtk.md) | M8P/M8N | ✓ | | | |
[CUAV C-RTK2](../gps_compass/rtk_gps_cuav_c-rtk2.md) | F9P | ✓ | | | ✓ |
[CUAV C-RTK 9Ps GPS](../gps_compass/rtk_gps_cuav_c-rtk-9ps.md) | F9P | RM3100 | | | ✓ |
[CUAV C-RTK2 PPK/RTK GNSS](../gps_compass/rtk_gps_cuav_c-rtk.md) | F9P | RM3100 | | | | ✓
[CubePilot Here+ RTK GPS](../gps_compass/rtk_gps_hex_hereplus.md) | M8P | HMC5983 | | | |
[CubePilot Here3 CAN GNSS GPS (M8N)](https://www.cubepilot.org/#/here/here3) | M8P | ICM20948 | ✓ | | |
[Drotek SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) | F9P | RM3100 | | | ✓ |
[Femtones MINI2 Receiver](../gps_compass/rtk_gps_fem_mini2.md) | FB672, FB6A0 | ✓ | | | |
[Freefly RTK GPS](../gps_compass/rtk_gps_freefly.md) | F9P | IST8310 | | | |
[Holybro H-RTK F9P Ultralight](https://holybro.com/products/h-rtk-f9p-ultralight) | F9P | IST8310 | | | ✓|
[Holybro H-RTK F9P Helical or Base](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) | F9P | IST8310 | | | ✓|
[Holybro DroneCAN H-RTK F9P Helical](https://holybro.com/products/dronecan-h-rtk-f9p-helical) | F9P | BMM150 | ✓ | | ✓ |
[Holybro H-RTK F9P Rover Lite](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) | F9P | IST8310 | | | | |
[Holybro DroneCAN H-RTK F9P Rover](https://holybro.com/products/dronecan-h-rtk-f9p-rover) | F9P | BMM150 | | | ✓ |
[Holybro H-RTK M8P GNSS](../gps_compass/rtk_gps_holybro_h-rtk-m8p.md) | M8P | IST8310 | | |
[Holybro H-RTK Unicore UM982 GPS](../gps_compass/rtk_gps_holybro_unicore_um982.md) | UM982 | IST8310 | | Unicore Dual Antenna Heading | |
[LOCOSYS Hawk R1](../gps_compass/rtk_gps_locosys_r1.md) | MC-1612-V2b | | | | |
[LOCOSYS Hawk R2](../gps_compass/rtk_gps_locosys_r2.md) | MC-1612-V2b | IST8310 | | | |
[mRo u-blox ZED-F9 RTK L1/L2 GPS](https://store.mrobotics.io/product-p/m10020d.htm) | F9P | ✓ | | | ✓ |
Device | GPS | Compass | [DroneCAN](../dronecan/index.md) | [GPS Yaw](#configuring-gps-as-yaw-heading-source) | PPK
:--- | :---: | :---: | :---: | :---: | :---:
[ARK RTK GPS](https://arkelectron.com/product/ark-rtk-gps/) | F9P | ICM42688p | ✓ | [Dual F9P][DualF9P] |
[CUAV C-RTK GPS](../gps_compass/rtk_gps_cuav_c-rtk.md) | M8P/M8N | ✓ | | |
[CUAV C-RTK2](../gps_compass/rtk_gps_cuav_c-rtk2.md) | F9P | ✓ | | [Dual F9P][DualF9P] |
[CUAV C-RTK 9Ps GPS](../gps_compass/rtk_gps_cuav_c-rtk-9ps.md) | F9P | RM3100 | | [Dual F9P][DualF9P] |
[CUAV C-RTK2 PPK/RTK GNSS](../gps_compass/rtk_gps_cuav_c-rtk.md) | F9P | RM3100 | | | ✓
[CubePilot Here+ RTK GPS](../gps_compass/rtk_gps_hex_hereplus.md) | M8P | HMC5983 | | |
[CubePilot Here3 CAN GNSS GPS (M8N)](https://www.cubepilot.org/#/here/here3) | M8P | ICM20948 | ✓ | |
[Drotek SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) | F9P | RM3100 | | [Dual F9P][DualF9P] |
[Femtones MINI2 Receiver](../gps_compass/rtk_gps_fem_mini2.md) | FB672, FB6A0 | ✓ | | |
[Freefly RTK GPS](../gps_compass/rtk_gps_freefly.md) | F9P | IST8310 | | |
[Holybro H-RTK F9P Ultralight](https://holybro.com/products/h-rtk-f9p-ultralight) | F9P | IST8310 | | [Dual F9P][DualF9P]|
[Holybro H-RTK F9P Helical or Base](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) | F9P | IST8310 | | [Dual F9P][DualF9P]|
[Holybro DroneCAN H-RTK F9P Helical](https://holybro.com/products/dronecan-h-rtk-f9p-helical) | F9P | BMM150 | ✓ | [Dual F9P][DualF9P] |
[Holybro H-RTK F9P Rover Lite](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) | F9P | IST8310 | | | |
[Holybro DroneCAN H-RTK F9P Rover](https://holybro.com/products/dronecan-h-rtk-f9p-rover) | F9P | BMM150 | | [Dual F9P][DualF9P] |
[Holybro H-RTK M8P GNSS](../gps_compass/rtk_gps_holybro_h-rtk-m8p.md) | M8P | IST8310 | |
[Holybro H-RTK Unicore UM982 GPS](../gps_compass/rtk_gps_holybro_unicore_um982.md) | UM982 | IST8310 | | [Unicore Dual Antenna][UnicoreDualAnt] |
[LOCOSYS Hawk R1](../gps_compass/rtk_gps_locosys_r1.md) | MC-1612-V2b | | | |
[LOCOSYS Hawk R2](../gps_compass/rtk_gps_locosys_r2.md) | MC-1612-V2b | IST8310 | | |
[mRo u-blox ZED-F9 RTK L1/L2 GPS](https://store.mrobotics.io/product-p/m10020d.htm) | F9P | ✓ | | [Dual F9P][DualF9P] |
[RaccoonLab L1/L2 ZED-F9P][RaccoonLab L1/L2 ZED-F9P] | F9P | RM3100 | ✓ | | |
[RaccoonLab L1/L2 ZED-F9P with external antenna][RaccnLabL1L2ZED-F9P ext_ant] | F9P | RM3100 | ✓ | | |
[Septentrio AsteRx-m3 Pro](../gps_compass/septentrio_asterx-rib.md) | AsteRx | ✓ | | ✓ | Septentrio dual antenna heading | ✓ |
[Septentrio mosaic-go](../gps_compass/septentrio_mosaic-go.md) | mosaic X5 / mosaic H | ✓ | | ✓ | Septentrio dual antenna heading | ✓ |
[SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) | F9P | ✓ | | | ✓ |
[SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/products/15136) | F9P | ✓ | | | ✓ |
[Trimble MB-Two](../gps_compass/rtk_gps_trimble_mb_two.md) | F9P | ✓ | | ✓ | | |
[RaccoonLab L1/L2 ZED-F9P with external antenna][RaccnLabL1L2ZED-F9P ext_ant] | F9P | RM3100 | ✓ | |
[Septentrio AsteRx-m3 Pro](../gps_compass/septentrio_asterx-rib.md) | AsteRx | ✓ | | [Septentrio Dual Antenna][SeptDualAnt] | ✓ |
[Septentrio mosaic-go](../gps_compass/septentrio_mosaic-go.md) | mosaic X5 / mosaic H | ✓ | | [Septentrio Dual Antenna][SeptDualAnt] | ✓ |
[SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) | F9P | ✓ | | [Dual F9P][DualF9P] |
[SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/products/15136) | F9P | ✓ | | [Dual F9P][DualF9P] |
[Trimble MB-Two](../gps_compass/rtk_gps_trimble_mb_two.md) | F9P | ✓ | | ✓ | |

<!-- links used in above table -->

[RaccnLabL1L2ZED-F9P ext_ant]: https://docs.raccoonlab.co/guide/gps_mag_baro/gnss_external_antenna_f9p_v320.html
[RaccoonLab L1/L2 ZED-F9P]: https://docs.raccoonlab.co/guide/gps_mag_baro/gps_l1_l2_zed_f9p.html

[DualF9P]: ../gps_compass/u-blox_f9p_heading.md
[SeptDualAnt]: ../gps_compass/septentrio.md#gnss-based-heading
[UnicoreDualAnt]: ../gps_compass/rtk_gps_holybro_unicore_um982.md#enable-gps-heading-yaw

Notes:

Expand Down Expand Up @@ -144,9 +146,16 @@ The RTK GPS connection is essentially plug and play:

### Configuring GPS as Yaw/Heading Source

GPS can be used as a source for yaw fusion when using modules where _yaw output is supported by the device_ (e.g. [Trimble MB-Two](../gps_compass/rtk_gps_trimble_mb_two.md)) or when using some [RTK GPS Setups with Dual u-blox F9P](../gps_compass/u-blox_f9p_heading.md).
GPS can be used as a source for yaw fusion when using a single device with two antenna where _yaw output is supported by the device_, or when using some [RTK GPS Setups with Dual u-blox F9P](../gps_compass/u-blox_f9p_heading.md).
Using GPS as a heading source has the benefit that yaw calculations are not impacted by magnetic interference.

Both approaches work comparing the time taken for a GNSS signal to reach two separated antennas.
The minimum distance between antenna depends on the device but is of the order of 50 cm (check manufacturer documentation).

The devices that can be used are listed in this way are listed in the **GPS Yaw** column of the table above, such as [Septentrio AsteRx-m3 Pro](../gps_compass/septentrio_asterx-rib.md), [Holybro H-RTK Unicore UM982 GPS](../gps_compass/rtk_gps_holybro_unicore_um982.md), and [Trimble MB-Two](../gps_compass/rtk_gps_trimble_mb_two.md).
The links in the table take you to the device-specific PX4 configuration.

When using GPS for yaw fusion you will need to configure the following parameters:
Generally when using a GNSS as a source of yaw information you will need to configure the following parameters:

| Parameter | Setting |
| -------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------- |
Expand Down

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