Fix up GNSS table for yaw sources #3399
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hamishwillee
commented
Oct 3, 2024
| [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] | |
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For example, here we link to the unicore specific setup docs.
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No flaws found |
hamishwillee
commented
Oct 3, 2024
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| 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: |
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So the params below seem to be used by Unicore and by dual FP9 setups. Septentrio have a different setup. It isn't clear if these also need to be set for septentrio. Because of that I point to the device specific docs too.
Hope this makes sense @julianoes
hamishwillee
commented
Oct 3, 2024
| @@ -144,9 +146,16 @@ The RTK GPS connection is essentially plug and play: | |||
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| ### Configuring GPS as Yaw/Heading Source | |||
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| 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. | |||
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Any other benefits? I guess without a compass you don't need a mast. However you are susceptible to GNSS jamming.
julianoes
approved these changes
Oct 4, 2024
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Thanks for the review |
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There are two main approaches for getting yaw from GPS - either dual FP9 RTK or a device that has two antenna and supports this feature. The table using multiple columns to show this information.
What this does is have a single heading for GPS Yaw that links down in the doc to a high level overview. In the table the ✓ has been replaced by a link to the docs explaining how to set up the specific device.
Down below I've made it clear why you do this and point back up for instructions.
@vincentpoont2 @julianoes Can you please sanity check?