![]() ![]() MAVLink 2 must be used on low-bandwidth links for good RTK performance. PX4 automatically switches to MAVLink 2 if the GCS and telemetry modules support it. ![]() The resulting uplink requirement is about the same as the theoretical value (~300 bytes per second). If MAVLink 2 is used then any empty space in the GPS_RTCM_DATA message is removed. This can lead to link saturation on low-bandwidth half-duplex telemetry modules (e.g. If MAVLink 1 is used, a 182-byte GPS_RTCM_DATA message is sent for every RTCM message, irrespective of its length.Īs a result the approximate uplink requirement is around 700+ bytes per second. Since at a given time, the maximum number of satellites visible from any single constellation is 12, under real-world conditions, theoretically an uplink rate of 300 B/s is sufficient. The RTCM Base Position message (1005) is of length 22 bytes, while the others are all of variable length depending on the number of visible satellites and the number of signals from the satellite (only 1 for L1 units like M8P). Depending on the RTCM message, the MAVLink message is almost never completely filled. The maximum length of each MAVLink message is 182 bytes. The raw RTCM messages from the base are packed into a MAVLink GPS_RTCM_DATA message and sent over the datalink.
0 Comments
Leave a Reply.AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |