HED-10L Heading RTK module
Overview
NANO Dual-Antenna RTK Receiver
PINOUT
6P 1.25mm connector (from left to right):
- GND
- NC
- PPS
- Rx
- Tx
- VCC
DIP Switcher
the pin 3 and 4 connected to the M module for USB type C, output positioning data and heading data. so if you want to output data via usb, please keep 3 and 4 to ON position.
Protocol
PALYSBLS Message for heading data
$PALYSBLS,025217.000,-0.577,1.030,0.782,1.416,119.25,33.55,F*4A
How to Install
Installation
The figure below is a typical installation method for UAV, where the baseline length is the distance between the centers of two antennas, which needs to be measured to obtain this value.
Config baseline
After installation, the baseline length needs to be configured.
Then open Satrack software , “View” - “AS Message View”, choose “CFG-BLCNST” to config the baseline length and tolerant like below screenshot, then press “send”:
If the distance between the two antennas remains unchanged, this setting only needs to be done once.
Configuration for Ardupilot
If we install according to the diagram above, the dimensions are also as shown in the picture. The parameters of Ardupilot need to be set as follows:
GPS_POS1_X = 0 GPS_POS1_Y = +0.25 GPS_POS1_Z = -0.14
We used self-compiled firmware for the above test, as the standard official AP firmware does not yet support this module.