Extension `rtk`

Support for RTK base stations and external RTK correction sources.

Version

-

Tags

-

Dependencies

beacon, location, ntrip, signals

Configuration properties

Table 1. properties
Property	Type	Default	Description
presets	object		RTK base stations. Specifications of external RTK data sources that are provided by the server even if no RTK base stations are connected.
`add_serial_ports`	array<integer>		Use serial ports automatically. Automatically offer serial ports as RTK sources with the given baud rates.
`exclude_serial_ports`	array<string>		Exclude serial ports. Exclude serial ports matching the given wildcard patterns from considering them as RTK base stations.
`exclude_non_rtk_bases`	boolean	True	Exclude devices that are known not to be RTK base stations. Matches each serial port against a hardcoded list of devices that are known not to be RTK base stations and excludes ports that are on the list. Typically you should not need to uncheck this option.
fixed	object		Use fixed base station coordinate. Base station cooordinates and accuracy to use when auto-configuring an RTK base station. Uncheck to perform an automatic survey-in if the RTK base station supports it.
`gnss_types`	array<string>		Use only selected GNSS types. GNSS types to request corrections for when auto-configuring an RTK base station. Uncheck to request corrections for all GNSS types. Possible parameter values: all All GNSS types gps GPS glonass GLONASS galileo Galileo sbas SBAS qzss QZSS beidou BeiDou irnss IRNSS
`message_set`	enum<string>	basic	Message set. Specifies the set of messages to forward to UAVs and other components in the server. 'Basic' is the minimal set of RTCM messages that are needed for RTK corrections on the UAVs. 'Full' will forward all messages unconditionally. Possible parameter values: basic Basic RTCM (for RTK corrections) full Full
`register_beacons`	boolean	True	Register the RTK base station as a beacon. Registers the current RTK base station as a beacon in the server. This allows frontends like Skybrush Live to show the position of the RTK base station on the map.
`survey_accuracy`	number	100	Desired accuracy of RTK surveys [cm]. Desired accuracy of RTK surveys for locally connected base stations that need auto-configuration, in centimeters. Supported for base stations using uBlox chipsets. Parameter range: 1-
`survey_duration`	integer	60	Minimum duration of RTK surveys [s]. Minimum duration of RTK surveys for locally connected base stations that need auto-configuration, in seconds. Supported for base stations using uBlox chipsets. Parameter range: 0-
`use_high_precision`	boolean	True	Use high-precision MSM7 messages. Request corrections in high-precision MSM7 RTCM3 messages when auto-configuring an RTK base station. Uncheck if the rover(s) support MSM4 messages only.

Table 2. properties.presets
Property	Type	Default	Description
`source`	string		Connection URL
`title`	string		Title. Human-readable title used on the user interface.
`format`	enum<string>	auto	Message format. Possible parameter values: auto Detect automatically rtcm2 RTCM2 rtcm3 RTCM3 only ubx U-Blox and RTCM3
filter	object		Message filter
`auto_select`	boolean	False	Select automatically at startup
`auto_survey`	boolean	False	Start survey automatically when selected

Table 3. properties.presets.filter
Property	Type	Default	Description
`reject`	array<string>		Reject messages. Reject messages with the given IDs. IDs are in the following format: rtcm2/X or rtcm3/X where X is the numeric identifier of the RTCMv2 or RTCMv3 message.
`accept`	array<string>		Accept messages. Accept messages with the given IDs. IDs are in the following format: rtcm2/X or rtcm3/X where X is the numeric identifier of the RTCMv2 or RTCMv3 message.

Table 4. properties.fixed
Property	Type	Default	Description
`position`	array<number>		Position. Use ECEF coordinates (Earth centered, Earth fixed), in meters.
`accuracy`	number	1	Accuracy. Accuracy of the measured coordinates, in meters. Parameter range: 0-