From 53fb463a8711e9476587e12d7143c9baf59ec239 Mon Sep 17 00:00:00 2001 From: Thomas Frans Date: Tue, 11 Jun 2024 10:57:37 +0200 Subject: [PATCH] Add documentation for new Septentrio-specific driver As the Septentrio driver has moved from the PX4 GPS drivers repository into the main codebase and received new parameters and features, the documentation needs to be updated to reflect them. --- .../septentrio_driver_parameters.png | Bin 0 -> 148991 bytes en/SUMMARY.md | 3 +- en/gps_compass/septentrio.md | 190 +++++++++++ en/gps_compass/septentrio_asterx-rib.md | 307 +++++++++--------- en/gps_compass/septentrio_mosaic-go.md | 160 ++++----- 5 files changed, 407 insertions(+), 253 deletions(-) create mode 100644 assets/hardware/gps/septentrio_sbf/septentrio_driver_parameters.png create mode 100644 en/gps_compass/septentrio.md diff --git a/assets/hardware/gps/septentrio_sbf/septentrio_driver_parameters.png b/assets/hardware/gps/septentrio_sbf/septentrio_driver_parameters.png new file mode 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zL^v<{knmp}a43A?H2EF5df&tDr={^lo!(z(ADRvly8ZjJmsZSq`xb{wLPGyU?a9y7 z4eJETXAcpwN?4%H)z(ZKai}0A!BD5glq#Uc%#e0sMJ%q;9%)W(#gX2XpO^7|*7SG3yIQaRu=7l7HRFlLwIEbKUZ~Lmo6)m}O zaGVI$aIsGlsquX0v17%ad1aVoAZ4#%&l1U&#L-mPlXsmvc-RAF@-ys+6a0(>JIZVS zb=|MW9`O)h$J<||pFZCd#=-f{K3#LPF1K@#pPYI8pzr;-`_t<2OMG$ue7YwShuV;G Shnv5yQdQDa{HE|a`2PTLvYa;n literal 0 HcmV?d00001 diff --git a/en/SUMMARY.md b/en/SUMMARY.md index 1a3acb80f6c29..d4c15c646ca27 100644 --- a/en/SUMMARY.md +++ b/en/SUMMARY.md @@ -274,7 +274,8 @@ - [Holybro H-RTK Unicore UM982 GPS](gps_compass/rtk_gps_holybro_unicore_um982.md) - [Locosys Hawk R1](gps_compass/rtk_gps_locosys_r1.md) - [Locosys Hawk R2](gps_compass/rtk_gps_locosys_r2.md) - - [Septentrio AsteRx-RIB](gps_compass/septentrio_asterx-rib.md) + - [Septentrio GNSS Receivers](gps_compass/septentrio.md) + - [Septentrio AsteRx-m3 Pro](gps_compass/septentrio_asterx-rib.md) - [Septentrio mosaic-go](gps_compass/septentrio_mosaic-go.md) - [Trimble MB-Two](gps_compass/rtk_gps_trimble_mb_two.md) - [CubePilot Here+ (Discontined)](gps_compass/rtk_gps_hex_hereplus.md) diff --git a/en/gps_compass/septentrio.md b/en/gps_compass/septentrio.md new file mode 100644 index 0000000000000..e6859a9700f12 --- /dev/null +++ b/en/gps_compass/septentrio.md @@ -0,0 +1,190 @@ +# Septentrio GNSS Receivers + +PX4 autopilot supports Septentrio GNSS receivers based on the mosaic-X5 and mosaic-H receiver +modules. It has [parameterized](../advanced_config/parameter_reference.md#septentrio) automatic +configuration to fit different use cases. The output is processed by the Septentrio driver in PX4 +autopilot and made available to the rest of the system like the MAVLink and EKF modules. Certain +receivers are recommended for autopilot applications because of their physical or technical +properties, including: + +- [AsteRx-m3 Pro](https://www.septentrio.com/en/products/gps/gnss-boards/asterx-m3-pro) + +Dual-antenna, ultra-low-power GNSS rover receiver with support for heading. + +- [AsteRx-m3 Pro+](https://www.septentrio.com/en/products/gps/gnss-boards/asterx-m3-pro-plus) + +Dual-antenna, ultra-low-power versatile GNSS rover and base receiver with support for heading. + +- [mosaic-go](https://www.septentrio.com/en/products/gps/gnss-receiver-modules/mosaic-go-evaluation-kit) + +Single-antenna evaluation kit with support for L5 frequency band, based on the mosaic-X5 GNSS +receiver module. + +- [mosaic-go heading](https://www.septentrio.com/en/products/gps/gnss-receiver-modules/mosaic-h-evaluation-kit) + +Dual-antenna evaluation kit with support for heading, based on the mosaic-H GNSS receiver module. + +## Supported Features + +- RTK positioning using corrections over MAVLink from a ground control station +- Dual-antenna heading with mosaic-H-based receivers +- Moving base heading with two single-antenna receivers +- SBF logging to internal storage on the receiver +- Logging of all communication with the receiver to internal storage on the flight controller +- Automatic baud rate and port detection +- Automatic, parameterized configuration for all features +- Status and health monitoring from a MAVLink console + +## Quick Start + +For the physical connection between Septentrio GNSS receivers and flight controllers, have a look at +the hardware-specific guides for [mosaic-go receivers](septentrio_mosaic-go.md) and [AsteRx-m3 +receivers with a robotics interface board](septentrio_asterx-rib.md). + +A few things are required for PX4 autopilot to support Septentrio receivers. First of all, the +firmware you load on your flight controller needs to contain the Septentrio driver. This should be +the case for most available official builds. You can confirm this by opening QGroundControl, +connecting to the flight controller running the firmware you want to use and checking whether the +"Septentrio" parameter group is available in the parameter configuration screen. + +![Septentrio Driver Parameters](../../assets/hardware/gps/septentrio_sbf/septentrio_driver_parameters.png) + +Next up, you need to tell PX4 autopilot which serial port the receiver is connected to. This is +often indicated by a label above the port on the flight controller you are using. If you plugged in +the receiver into the port labeled "GPS 1", you need to set the `SEP_PORT1_CFG` parameter to `GPS +1`. You also need to make sure no other driver is configured to use this serial port. By default, +the `GPS` module will be configured to use the `GPS 1` port, so **make sure to set `GPS_1_CONFIG` to +`Disabled`**. + +After those two steps, the flight controller should automatically configure the connected +receiver(s) using the parameters you set, after which the position will become visible in +QGroundControl and the GPS icon will display general status information. + +## Serial Configuration + +Septentrio GNSS receivers make use of a serial connection to the autopilot. There are two types of +parameters available to configure this connection. First there are the parameters under the +"Septentrio" group which can be used to select the physical port the receiver is connected to. If +for example one receiver is connected to the port labelled "GPS 2", then you need to set +`GPS_1_CONFIG` to `GPS 2`, meaning the main receiver (hence the 1 in `GPS_1_CONFIG`) is connected to +the second GPS port (therefore `GPS 2`). + +The baud rate used for the serial connection is also configurable. It can be set to any of baud +rates supported by Septentrio GNSS receivers. The driver will always detect the baud rate of the +receiver and if a baud rate is set, it will configure the receiver to use this one. If none is set, +the driver will use the current baud rate of the receiver. Higher values make for a faster +connection, but may fail if there is lots of interference or the cabling is of poor quality. Using +other baud rates will not work and the driver will fall back to a default of `230400`. When using +RTK positioning or higher receiver output rates, values above `460800` are recommended. Supported +ones are: + +- `57600` +- `115200` +- `230400` +- `460800` +- (`500000`) +- (`576000`) +- `921600` +- (`1000000`) +- (`1500000`) + +> Baud rates between parentheses are non-standard and should be avoided. + +## Automatic Configuration + +Normally the driver automatically configures the connected receivers as long as the ports have been +set correctly. Some users may wish to perform additional changes to their configuration, in which +case the driver should not automatically configure it. This can be changed using the +`SEP_AUTO_CONFIG` parameter. Keep in mind that the driver always detects the baud rate and receiver +port to ensure correct operation. When the baud rate parameter is configured the baud rate will also +be configured, regardless of whether automatic configuration is disabled. + +Multiple parameters are available to change how the receiver is configured. `SEP_CONST_USAGE` can be +used to choose which constellations to include/exclude from PVT computation. `SEP_OUTP_HZ` changes +the frequency of PVT data output to the flight controller. `SEP_STREAM_MAIN` and `SEP_STREAM_LOG` +change which streams are used for the main and logging output from the receiver. These can be +changed when you already use the default streams for other purposes. Make sure to use two different +streams. Using the same one for both will prevent logging from starting correctly. + +## GNSS-Based Heading + +Heading determines the orientation of the vehicle. GNSS-based heading allows for heading without +relying on an internal compass, which might encounter interference from the motors and other factors +on a vehicle. There are two methods to use Septentrio GNSS receivers for GNSS-based heading. The +first is to use a receiver based on the mosaic-H receiver module, like the mosaic-go heading, +AsteRx-m3 Pro and AsteRx-m3 Pro+. Heading will work automatically when one of these is connected and +has two antennas attached. The other is to use two separate receivers attached to two ports, each +with one antenna. In that case the `SEP_HARDW_SETUP` parameter has to be set to `Moving base` and +the main receiver (set by `SEP_PORT1_CFG`) will act as the rover. To switch rover and base in the +moving base setup, switch `SEP_PORT1_CFG` and `SEP_PORT2_CFG` or physically swap the connected +receivers. + +It is important that the antennas are positioned at least 30 cm apart for a stable heading result. +In a normal setup, the main antenna is behind the auxiliary one. If another setup is used, the +`SEP_YAW_OFFS` value needs to be changed accordingly. If the antennas are not at the same height, +the `SEP_PITCH_OFFS` value needs to be changed. + +## Logging + +There are two ways to log data for Septentrio GNSS receivers. The first is to log certain SBF +(Septentrio Binary Format) blocks internally on the receiver. The second is to log incoming, +outgoing or all communication between the flight controller and receiver on the internal storage in +the flight controller. + +### Internal Receiver Logging + +The driver can configure the receivers to log their data to internal storage. That data can be +valuable for troubleshooting in case something goes wrong. There are three parameters to change the +logging configuration. `SEP_LOG_HZ` sets the frequency of the internal logging. It also allows to +disable logging. `SEP_LOG_FORCE` decides whether the driver overwrites existing messages on the +logging stream (`Enabled`) or adds to them (`Disabled`). `SEP_LOG_LEVEL` sets the verbosity of the +internal logging. There are four levels: + +| Level | Blocks | +|---------|------------------------------------------------------------| +| Lite | Comment+ReceiverStatus | +| Basic | Comment+ReceiverStatus+PostProcess+Event | +| Default | Comment+ReceiverStatus+PostProcess+Event+Support | +| Full | Comment+ReceiverStatus+PostProcess+Event+Support+BBSamples | + +### Flight Controller Logging + +The driver can also log all communication from and to the receiver. That can be configured using the +`SEP_DUMP_COMM` parameter. See [the logging guide](../dev_log/logging.md) for more information about +reading those files. + +## MAVLink Console Usage + +The Septentrio driver can be fully used from the MAVLink console. This allows for driver startup and +shutdown, receiver resets, status monitoring and parameter changes. It may also help when +encountering problems as the console may print related error messages, pointing to the source of the +problem. **Error messages are only displayed when the driver has been started from the console.** + +```sh +# See help +septentrio -h +``` + +```sh +# Get current health and statistics +septentrio status +``` + +```sh +# Start the driver with a receiver connected on port `/dev/ttyS0` and +# automatically configure it to baud rate 115200. Also use a receiver on +# port `/dev/ttyS7` and use its current baud rate. +septentrio start -d /dev/ttyS0 -b 115200 -e /dev/ttyS7 +``` + +Three reset types are supported: + +- `hot`: Reset the receiver firmware but preserve the current configuration +- `warm`: Reset the receiver firmware, preserve the current configuration but remove cached PVT data +- `cold`: Reset the receiver firmware and use boot configuration, also remove satellite data like +ephemerides + +```sh +# Perform a hot reset on the connected receivers +septentrio reset hot +``` diff --git a/en/gps_compass/septentrio_asterx-rib.md b/en/gps_compass/septentrio_asterx-rib.md index a2977e848071c..bdeb208105168 100644 --- a/en/gps_compass/septentrio_asterx-rib.md +++ b/en/gps_compass/septentrio_asterx-rib.md @@ -1,157 +1,150 @@ -# AsteRx OEM with Robotics Interface Board - -Septentrio is the leading worldwide supplier of OEM GPS / GNSS receivers. -Septentrio OEM receivers deliver accurate and reliable positions to demanding industrial applications in a small, light-weight form factor. -There are several dual antenna receiver options that allows for GPS information to be fused into the heading (other attitude information can also be determined, but is not fused by PX4). - -Inertial sensor integration of the AsteRx-i family offers a full attitude solution (heading, pitch and roll) synchronized with accurate positioning. - -The Robotics Interface Board coupled with Septentrio GNSS receiver boards provides common interfaces like USB, ethernet, on board logging and other functionalities designed for rapid prototyping, product evaluation or efficient integration. - -![Septentrio Robotics Interface Board](../../assets/hardware/gps/septentrio_sbf/asterx_m3_and_rib_board.png) - - -## Key Features - -- Credit-card size boards with low power consumption -- Easy-to-integrate into any system -- Best-in-class RTK performance with true multi-constellation, multi-frequency GNSS technology -- Advanced Interference Mitigation (AIM+) anti-jamming and anti-spoofing technology -- Resilient to vibrations and shocks -- 44 pins I/O connector for autopilots such as Pixhawk -- On-board logging -- Micro USB connector -- Size: 71.53 x 47.5 x 18.15 mm -- Weight = 50g - -## Purchase - -All AsteRx receivers and Robotic Interface Boards can be purchased from the Septentrio webshop: - -- [AsteRx-m3 Pro](https://web.septentrio.com/l/858493/2022-04-19/xgrrz) -- [AsteRx-m3 Pro+](https://web.septentrio.com/l/858493/2022-04-19/xgrs3) - -Other PX4 supported devices from Septentrio: -- [mosaic-go evaluation kit](../gps_compass/septentrio_mosaic-go.md) - -## Interfaces - -![Septentrio Robotics Interface Board Fritzing drawing](../../assets/hardware/gps/septentrio_sbf/rib.png) - -### USB -_Connector type: micro-USB type B._ - -The micro USB type B connector can be attached to a PC to power the receiver and to communicate with it over its USB port. - -### 44-pin header -_Connector type: SAMTEC TMM-122-03-S-D, 2-mm pitch._ - -The 44-pin header can be used to connect multiple GPIO devices. -Refer to the [hardware manual](https://web.septentrio.com/l/858493/2022-04-19/xgrsw) for the pinout. - -### LED's - -The LED pins can be used to monitor the receiver status. -They can be used to drive external LEDs (max drive current 10mA). -It is assumed that the LED lights when the electrical level of the corresponding pin is high. -The general-purpose LED (GPLED pin) is configured with the setLEDMode command. - -### Log Button Header - -Putting a jumper on the LOG Button header (.100” vertical header) is equivalent to pressing a “log button”. -The interface board takes care of debouncing. - -### PPS/Event Header - -_Connector type: SAMTEC TMM-103-03-G-D, 2-mm pitch._ - -The 6-pin 2mm header next to the micro USB connector exposes the first PPS signal. - -### Power Supply Options - -When a USB cable is connected to the micro USB connector, the interface board is powered from the computer through the USB connector. -Alternatively, the power can be applied from the PWR_IN pins of the 44-pin connector. -The voltage range when powering from the PWR_IN pins is 4.5V to 30V. -Power can be applied from both sources at the same time. -On-board diodes prevent short circuits. The interface board provides the 3V3 supply to the AsteRx-m3 OEM receiver and a 5V DC voltage to the VANT pin of the AsteRx-m3 OEM. - -## Hardware setup - -![Septentrio Robotics Interface Board wiring diagram](../../assets/hardware/gps/septentrio_sbf/rib_wiring.png) - -1. Make sure the receiver is powered with at least 3.3V. - You can use the micro USB connector or the open ended supply (labeled "PWR & GND") on the 44 pin cable for this. -3. Connect one or two GNSS antennas to the external antenna ports on the AsteRx-i3 D board. -4. Connect the 44-pin cable to the AsteRx-i3 D board on RIB and connect the 10-pin JST connector to the `GPS MODULE` port on the Pixhawk 4 as shown in the diagram above. -5. In the web interface or with Rx Tools, set the receiver's baut rate to 115200 **Admin > Expert Control > Control Panel > Communication > COM Port Settings** (this is the default value). - - -::: info -PX4 will ensure that the GNSS module is automatically configured. -However, if you have a dual antenna setup, you will need to set the layout as accurately as possible in the web app. -::: - -### Dual antenna - -The attitude (heading/pitch) can be computed from the orientation of the baseline between the main and the aux1 GNSS antennas. - -![Multi-antenna attitude determination setup](../../assets/hardware/gps/septentrio_sbf/multi-antenna_attitude_setup.png) - -To enable multi-antenna attitude determination, follow the following procedure: - -1. Attach two antennas to your vehicle, using cables of approximately the same length. - The default antenna configuration is as depicted in the figure. - It consists in placing the antennas aligned with the longitudinal axis of the vehicle, main antenna behind AUX1. - For best accuracy, try to maximize the distance between the antennas, and avoid significant height difference between the antenna ARPs. -2. In practice, the two antenna ARPs may not be exactly at the same height in the vehicle frame, or the main-aux1 baseline may not be exactly parallel or perpendicular to the longitudinal axis of the vehicle. - This leads to offsets in the computed attitude angles. - These offsets can be compensated for with the **setAttitudeOffset** command. - -::: info -For optimal heading results, the two antennas should be seperated by at least 30cm / 11.8 in (ideally 50cm / 19.7in or more) - -For additional configuration of the dual antenna setup, please refer to our [Knowledge Base](https://support.septentrio.com/l/858493/2022-04-19/xgrsh) or the [hardware manual](https://web.septentrio.com/l/858493/2022-04-19/xgrsl) -::: - -### Web app - -mosaic-H GPS/GNSS receiver module with heading comes with fully documented interfaces, commands and data messages. -The included GNSS receiver control and analysis software [RxTools](https://web.septentrio.com/l/858493/2022-04-19/xgrss) allows receiver configuration, monitoring as well as data logging and analysis. - -The receiver includes an intuitive web user interface for easy operation and monitoring allowing you to control the receiver from any mobile device or computer. The web interface also uses easy-to-read quality indicators ideal to monitor the receiver operation during the job at hand. - -![Illustrative image for Septentrio mosaic-H GNSS Receiver Module Web User Interface (WebUI)](../../assets/hardware/gps/septentrio_sbf/septentrio_mosaic_a5_h_t_clas_gnss_module_receiverwebui.png) - -## PX4 setup - -![QGroundControl parameter settings](../../assets/hardware/gps/septentrio_sbf/qgc_param.png) - - -### Single antenna - -Edit the following parameters in the GPS tab: - -- [GPS_1_CONFIG](../advanced_config/parameter_reference.md#GPS_1_CONFIG): TELEM1 -- [GPS_1_GNSS](../advanced_config/parameter_reference.md#GPS_1_GNSS): 31 -- [GPS_1_PROTOCOL](../advanced_config/parameter_reference.md#GPS_1_PROTOCOL): Auto detect ( - or SBF) -- [SER_TEL1_BAUD](../advanced_config/parameter_reference.md#SER_TEL1_BAUD): 115200 8N1 - -Go to **Tools > Reboot Vehicle** - -### Dual antenna - -Edit the following parameters in the GPS tab: - -- [GPS_1_CONFIG](../advanced_config/parameter_reference.md#GPS_1_CONFIG): TELEM1 -- [GPS_1_GNSS](../advanced_config/parameter_reference.md#GPS_1_GNSS): 31 -- [GPS_1_PROTOCOL](../advanced_config/parameter_reference.md#GPS_1_PROTOCOL): Auto detect (or SBF) -- [SER_TEL1_BAUD](../advanced_config/parameter_reference.md#SER_TEL1_BAUD): 115200 8N1 -- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): Bit 3 Dual antenna heading -- [GPS_YAW_OFFSET](../advanced_config/parameter_reference.md#GPS_YAW_OFFSET): set according to your setup - -Go to **Tools > Reboot Vehicle** - -:::tip -If you want more detailed information about the AsteRx and the Robotics Interface Board, please refer to the [hardware manual](https://web.septentrio.com/l/858493/2022-04-19/xgrsw) or the [Septentrio Support](https://support.septentrio.com/l/858493/2022-04-19/xgrsz) page. -::: +# Septentrio AsteRx-m3 Pro With RIB Board + +::: info +This only describes the hardware setup. For the software part, see [the Septentrio software +documentation](../gps_compass/septentrio.md). +::: + + + +Septentrio is the leading worldwide supplier of OEM GPS/GNSS receivers. Septentrio OEM receivers +deliver accurate and reliable positions to demanding industrial applications in a small, +light-weight form factor. There are several dual-antenna receiver options that allows for GPS +information to be fused into the heading (other attitude information can also be determined, but is +not fused by PX4). + +Inertial sensor integration of the AsteRx-m3 Pro family offers a full attitude solution (heading, +pitch and roll) synchronized with accurate positioning. + +The Robotics Interface Board coupled with Septentrio GNSS receiver boards provides common interfaces +like USB, ethernet, on-board logging and other functionalities designed for rapid prototyping, +product evaluation or efficient integration. The features include the following: + +- Ultra-low-power credit-card size boards +- Easy integration into any system +- Best-in-class RTK performance with true multi-constellation, multi-frequency GNSS technology +- Advanced Interference Mitigation (AIM+) anti-jamming and anti-spoofing technology +- Resilient to vibration and shocks +- 44 pins I/O connector for autopilots such as Pixhawk +- On-board logging +- USB Micro-B connector +- Size: 71.53 x 47.5 x 18.15 mm +- Weight: 50g + +## Purchase + +All AsteRx receivers and Robotic Interface Boards can be purchased from the Septentrio webshop: + +- [AsteRx-m3 Pro](https://web.septentrio.com/l/858493/2022-04-19/xgrrz) +- [AsteRx-m3 Pro+](https://web.septentrio.com/l/858493/2022-04-19/xgrs3) + +Other PX4 supported devices from Septentrio: + +- [mosaic-go evaluation kit](../gps_compass/septentrio_mosaic-go.md) + +## Interfaces + +![Septentrio Robotics Interface Board Fritzing drawing](../../assets/hardware/gps/septentrio_sbf/rib.png) + +### USB + +_Connector type: micro-USB type B._ + +The micro USB type B connector can be attached to a PC to power the receiver and to communicate with +it over its USB port. + +### 44-pin header + +_Connector type: SAMTEC TMM-122-03-S-D, 2-mm pitch._ + +The 44-pin header can be used to connect multiple GPIO devices. +Refer to the [hardware manual](https://web.septentrio.com/l/858493/2022-04-19/xgrsw) for the pinout. + +### LED's + +The LED pins can be used to monitor the receiver status. +They can be used to drive external LEDs (max drive current 10mA). +It is assumed that the LED lights when the electrical level of the corresponding pin is high. +The general-purpose LED (GPLED pin) is configured with the setLEDMode command. + +### Log Button Header + +Putting a jumper on the LOG Button header (.100” vertical header) is equivalent to pressing a “log +button”. The interface board takes care of debouncing. + +### PPS/Event Header + +_Connector type: SAMTEC TMM-103-03-G-D, 2-mm pitch._ + +The 6-pin 2mm header next to the micro USB connector exposes the first PPS signal. + +### Power Supply Options + +When a USB cable is connected to the USB Micro-B connector, the interface board is powered from the +computer through the USB connector. Alternatively, the power can be applied from the PWR_IN pins of +the 44-pin connector. The voltage range when powering from the PWR_IN pins is 4.5V to 30V. Power can +be applied from both sources at the same time. On-board diodes prevent short circuits. The interface +board provides the 3V3 supply to the AsteRx-m3 OEM receiver and a 5V DC voltage to the VANT pin of +the AsteRx-m3 OEM. + +## Hardware setup + +![Septentrio Robotics Interface Board wiring diagram](../../assets/hardware/gps/septentrio_sbf/rib_wiring.png) + +1. Make sure the receiver is powered with at least 3.3V. You can use the micro USB connector or the + open ended supply (labeled "PWR & GND") on the 44 pin cable for this. +3. Connect one or two GNSS antennas to the external antenna ports on the AsteRx-m3 Pro board. +4. Connect the 44-pin cable to the AsteRx-m3 Pro board on RIB and connect the 10-pin JST connector + to the _GPS MODULE_ port on the Pixhawk 4 as shown in the diagram above. + +::: info +PX4 will ensure that the GNSS module is automatically configured. However, if you have a dual +antenna setup, you will need to set the layout as accurately as possible in the web app. +::: + +### Dual-Antenna + +The attitude (heading/pitch) can be computed from the orientation of the baseline between the main +and the aux1 GNSS antennas. + +![Multi-antenna attitude determination setup](../../assets/hardware/gps/septentrio_sbf/multi-antenna_attitude_setup.png) + +To enable multi-antenna attitude determination, follow the following procedure: + +1. Attach two antennas to your vehicle, using cables of approximately the same length. The default + antenna configuration is as depicted in the figure. It consists in placing the antennas aligned +with the longitudinal axis of the vehicle, main antenna behind AUX1. For best accuracy, try to +maximize the distance between the antennas, and avoid significant height difference between the +antenna ARPs. +2. In practice, the two antenna ARPs may not be exactly at the same height in the vehicle frame, or + the main-aux1 baseline may not be exactly parallel or perpendicular to the longitudinal axis of +the vehicle. This leads to offsets in the computed attitude angles. These can be compensated for +with the heading parameters provided by the Septentrio driver in PX4. + +::: info +For optimal heading results, the two antennas should be seperated by at least 30cm / 11.8 in +(ideally 50cm / 19.7in or more) + +For additional configuration of the dual antenna setup, please refer to our [Knowledge +Base](https://support.septentrio.com/l/858493/2022-04-19/xgrsh) or the [hardware +manual](https://web.septentrio.com/l/858493/2022-04-19/xgrsl) +::: + +### Web App + +mosaic-H GPS/GNSS receiver module with heading comes with fully documented interfaces, commands and +data messages. The included GNSS receiver control and analysis software +[RxTools](https://web.septentrio.com/l/858493/2022-04-19/xgrss) allows receiver configuration, +monitoring as well as data logging and analysis. + +The receiver includes an intuitive web user interface for easy operation and monitoring allowing you +to control the receiver from any mobile device or computer. The web interface also uses easy-to-read +quality indicators ideal to monitor the receiver operation during the job at hand. + +![Illustrative image for Septentrio mosaic-H GNSS Receiver Module Web User Interface (WebUI)](../../assets/hardware/gps/septentrio_sbf/septentrio_mosaic_a5_h_t_clas_gnss_module_receiverwebui.png) + +:::tip +If you want more detailed information about the AsteRx and the Robotics Interface Board, please +refer to the [hardware manual](https://web.septentrio.com/l/858493/2022-04-19/xgrsw) or the +[Septentrio Support](https://support.septentrio.com/l/858493/2022-04-19/xgrsz) page. +::: diff --git a/en/gps_compass/septentrio_mosaic-go.md b/en/gps_compass/septentrio_mosaic-go.md index 20fb74a79e9df..fa9584a08a115 100644 --- a/en/gps_compass/septentrio_mosaic-go.md +++ b/en/gps_compass/septentrio_mosaic-go.md @@ -1,26 +1,31 @@ -# Septentrio mosaic-go evaluation kit +# Septentrio mosaic-go -The mosaic-go Evaluation Kit is composed of the mosaic module soldered on an interface board inside a metallic housing. +::: info +This only describes the hardware setup. For the software part, see [the Septentrio software +documentation](../gps_compass/septentrio.md). +::: + + -Sized at only 71 x 59 x 12 mm and weighing only 58 g, mosaic-go offers unmatched size to performance ratio. -mosaic-go includes: +The Septentrio mosaic-go receivers are evaluation kits for their mosaic-X5 and mosaic-H receiver +modules. Because of their small size and low weight, they are ideal for autopilot applications. The +available variants are the +[mosaic-go](https://www.septentrio.com/en/products/gps/gnss-receiver-modules/mosaic-go-evaluation-kit) +and [mosaic-go +heading](https://www.septentrio.com/en/products/gps/gnss-receiver-modules/mosaic-h-evaluation-kit). +Their features include the following: -- High update rate (>100 Hz) and low latency, both crucial for control systems of autonomous applications +- High update rate (>100 Hz) and low latency, both crucial for control systems of autonomous +applications - Reliable centimetre-level positioning - Full L2 support via P(Y) code - - Mosaic-go part number: - Single-antenna version, incorporating mosaic-X5: 410386(including accessories). Dual-antennaversion, incorporatingmosaic-H: 410397(including accessories). - - Size: 71 x 59 x 12 mm ± 1mm - Weight: 58g ± 1g -![Highly accurate GNSS receiver module](../../assets/hardware/gps/septentrio_sbf/mosaic-go.png "Highly accurate GNSS receiver module") - - ## Purchase -The mosaic-go kit is available on the [official shop](https://web.septentrio.com/l/858493/2022-04-19/xgrnz) of Septentrio. +The mosaic-go kit is available on the [official +store](https://web.septentrio.com/l/858493/2022-04-19/xgrnz) of Septentrio. - [mosaic-go heading GNSS module evaluation kit](https://web.septentrio.com/l/858493/2022-04-19/xgrp9) - [mosaic-go GNSS module receiver evaluation kit](https://web.septentrio.com/l/858493/2022-04-19/xgrpd) @@ -29,7 +34,7 @@ Other PX4 supported devices from Septentrio: - [AsteRx OEM with Robotics Interface Board](../gps_compass/septentrio_asterx-rib.md) -## The mosaic-go Heading Evaluation Kit Contains: +## mosaic-go Evaluation Kit Contents - 1 mosaic-H or mosaic-X5 module soldered on an interface board inside a metallic housing. - 1 USB cable @@ -37,32 +42,21 @@ Other PX4 supported devices from Septentrio: - 4-pin COM2 open-ended cable - Help user guide card -## Interfaces - -### USB -_Connector type: micro-USB type B._ - -This micro-B connector is used to access the mosaic-go over USB. It can also be used to power the mosaic-go. +## Physical Interfaces -### RSV USB -_Connector type: micro-USB type B._ +| Type | Label | Use | +|-----------------|--------------|------------------------------------------| +| USB Micro-B | USB | USB communication and power | +| RSV USB Micro-B | RSV | Reserved and should not be used | +| SMA | RF-IN\{1,2\} | Main (and auxiliary) antenna connections | +| 6-pin JST | Serial | Serial communication and power | +| 4-pin JST | Serial | Serial communication | +| microSD | TF CARD | Serial communication | -This connector is reserved and should not be used. - -### RF_IN1 and RF_IN2 -_Connector type: SMA._ - -These are the main and auxiliary antenna connectors, connected to the ANT_1 and ANT_2 pins of the internal mosaic. -Mosaic-go provides a 5V DC supply to both antenna connectors. The combined main and auxiliary antenna power consumption must not exceed 150mA. - -Note that RF_IN2 is only available on the dual-antenna mosaic-go. - -### TF Card -_Connector type: MicroSD._ - -Socket for a micro SD Card. The module can log (SBF/NMEA) files on the micro SD Card in this socket. +> Dual-antenna is only available on mosaic-H-based receivers. ### 6-pin Connector + _Connector type: GH connector, 1.25mm pitch, 6 way. Mating connector housing: GHR-06V-S._ | Pin Name | Direction | Level | Description | Comment | @@ -84,89 +78,63 @@ _Connector type: GH connector, 1.25mm pitch, 4way. Mating connector housing: GHR | RXD2 | In | 3V3_LVTTL | Serial COM2 receive line | Directly connects to RXD2 of internal mosaic | | GND | | 0 | Ground | | -## Hardware setup - -![Wiring diagram, Pixhawk 4 - mosaic-go](../../assets/hardware/gps/septentrio_sbf/mosaic-go_wiring.png "Wiring diagram, Pixhawk 4 - mosaic-go") +## Hardware Connection Example Pixhawk 4 -1. Make sure the receiver is powered with at least 3.3V. You can use the micro USB connector or the 6-pin connector. +1. Make sure the receiver is powered with at least 3.3V. You can use the USB Micro-B connector or + the 6-pin JST connector. 2. Connect one or two GNSS antennas to the RF-IN ports on the mosaic-go. -3. Connect the 6-pin connector (COM1) to the Pixhawk's `GPS MODULE` port. This will provide power to the mosaic-go and with this single connection it will be able to send single and dual antenna information to the Pixhawk 4. -4. In the web interface or with Rx Tools, set the receiver's baud rate to 115200 **Admin > Expert Control > Control Panel > Communication > COM Port Settings** (this is the default value). +3. Connect the 6-pin connector (COM1) to the Pixhawk's _GPS MODULE_ port. This will provide power to + the mosaic-go and with this single connection it will be able to send single and dual-antenna +information to the Pixhawk 4. -:::warning -Make sure the JST cable is wired correctly (since this is not a standard cable): - -![Wiring of JST cable](../../assets/hardware/gps/septentrio_sbf/jst_cable.png) +![Wiring diagram, Pixhawk 4 - mosaic-go](../../assets/hardware/gps/septentrio_sbf/mosaic-go_wiring.png "Wiring diagram, Pixhawk 4 - mosaic-go") -::: +::: warning +Make sure the JST cable is wired correctly since this is not a standard cable: -::: info -PX4 will ensure that the GNSS module is automatically configured however, if you have a dual antenna setup, it -is required to set the layout as accurately as possible in the web app. +![Wiring of JST cable](../../assets/hardware/gps/septentrio_sbf/jst_cable.png) ::: -### Dual antenna +### Dual-Antenna -The attitude (heading/pitch) can be computed from the orientation of the baseline between the main and the aux1 GNSS antennas. +The attitude (heading/pitch) can be computed from the orientation of the baseline between the main +and the aux1 GNSS antennas. ![Multi-antenna attitude determination setup](../../assets/hardware/gps/septentrio_sbf/multi-antenna_attitude_setup.png) To enable multi-antenna attitude determination, follow the following procedure: -1. Attach two antennas to your vehicle, using cables of approximately the same length. The default antenna configuration is as depicted in the figure. - It consists in placing the antennas aligned with the longitudinal axis of the vehicle, main antenna behind AUX1. - For best accuracy, try to maximize the distance between the antennas, and avoid significant height difference between the antenna ARPs. -2. In practice, the two antenna ARPs may not be exactly at the same height in the vehicle frame, or the main-aux1 baseline may not be exactly parallel or perpendicular to the longitudinal axis of the vehicle. - This leads to offsets in the computed attitude angles. - These offsets can be compensated for with the **setAttitudeOffset** command. +1. Attach two antennas to your vehicle, using cables of approximately the same length. The default + antenna configuration is as depicted in the figure. It consists in placing the antennas aligned +with the longitudinal axis of the vehicle, main antenna behind AUX1. For best accuracy, try to +maximize the distance between the antennas, and avoid significant height difference between the +antenna ARPs. +2. In practice, the two antenna ARPs may not be exactly at the same height in the vehicle frame, or + the main-aux1 baseline may not be exactly parallel or perpendicular to the longitudinal axis of +the vehicle. This leads to offsets in the computed attitude angles. These can be compensated for +with the heading parameters provided by the Septentrio driver in PX4. ::: info -For optimal heading results, the two antennas should be seperated by at least 30cm / 11.8 in (ideally 50cm / -19.7in or more) +For optimal heading results, the two antennas should be seperated by at least 30cm / 11.8 in +(ideally 50cm / 19.7in or more) For additional configuration of the dual antenna setup, please refer to our [Knowledge Base](https://support.septentrio.com/l/858493/2022-04-19/xgrqd) or the [hardware manual](https://web.septentrio.com/l/858493/2022-04-19/xgrql) ::: -### Web app +### Web App -mosaic-H GPS/GNSS receiver module with heading comes with fully documented interfaces, commands and data messages. -The included GNSS receiver control and analysis software [RxTools](https://web.septentrio.com/l/858493/2022-04-19/xgrqp) allows receiver configuration, monitoring as well as data logging and analysis. +mosaic-H GPS/GNSS receiver module with heading comes with fully documented interfaces, commands and +data messages. The included GNSS receiver control and analysis software +[RxTools](https://web.septentrio.com/l/858493/2022-04-19/xgrqp) allows receiver configuration, +monitoring as well as data logging and analysis. -The receiver includes an intuitive web user interface for easy operation and monitoring allowing you to control the receiver from any mobile device or computer. -The web interface also uses easy-to-read quality indicators ideal to monitor the receiver operation during the job at hand. +The receiver includes an intuitive web user interface for easy operation and monitoring allowing you +to control the receiver from any mobile device or computer. The web interface also uses easy-to-read +quality indicators ideal to monitor the receiver operation during the job at hand. ![Septentrio web user interface]( ../../assets/hardware/gps/septentrio_sbf/septentrio_mosaic_a5_h_t_clas_gnss_module_receiverwebui.png) -## PX4 setup - -![QGroundControl parameter settings](../../assets/hardware/gps/septentrio_sbf/qgc_param.png) - -### Single antenna - -Edit the following parameters in the GPS tab: - -- [GPS_1_CONFIG](../advanced_config/parameter_reference.md#GPS_1_CONFIG): GPS 1 -- [GPS_1_GNSS](../advanced_config/parameter_reference.md#GPS_1_GNSS): 31 -- [GPS_1_PROTOCOL](../advanced_config/parameter_reference.md#GPS_1_PROTOCOL): Auto detect (or SBF) -- [SER_GPS1_BAUD](../advanced_config/parameter_reference.md#SER_GPS1_BAUD): 115200 8N1 - -Go to **Tools > Reboot Vehicle** - -### Dual antenna - -Edit the following parameters in the GPS tab: - -- [GPS_1_CONFIG](../advanced_config/parameter_reference.md#GPS_1_CONFIG): GPS 1 -- [GPS_1_GNSS](../advanced_config/parameter_reference.md#GPS_1_GNSS): 31 -- [GPS_1_PROTOCOL](../advanced_config/parameter_reference.md#GPS_1_PROTOCOL): Auto detect (or SBF) -- [SER_GPS1_BAUD](../advanced_config/parameter_reference.md#SER_GPS1_BAUD): 115200 8N1 -- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): Add bit 3 (Dual antenna heading) which adds up to 15 -- [GPS_PITCH_OFFSET](../advanced_config/parameter_reference.md#GPS_PITCH_OFFSET): set according to your setup (note that Aux is forward at 0 offset) -- [GPS_YAW_OFFSET](../advanced_config/parameter_reference.md#GPS_YAW_OFFSET): set according to your setup (note that Aux is forward at 0 offset) - -Go to **Tools > Reboot Vehicle** - ## LED Status | LED Color | Powered | SD card mounted | PVT Solution | Logging enabled | @@ -179,6 +147,8 @@ Go to **Tools > Reboot Vehicle** | Red + Green | ✓️ | ✓️ | | ✓️ | :::tip -For more detailed information about the mosaic-go and its module, please refer to the [hardware manual](https://web.septentrio.com/l/858493/2022-04-19/xgrrd) or the [Septentrio Support](https://support.septentrio.com/l/858493/2022-04-19/xgrrl) page. +For more detailed information about the mosaic-go and its module, please refer to the [hardware +manual](https://web.septentrio.com/l/858493/2022-04-19/xgrrd) or the [Septentrio +Support](https://support.septentrio.com/l/858493/2022-04-19/xgrrl) page. :::