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
Note: On the V1.0 version of the board, if you need to use a 6P connector, please note: The Rx position is printed as NC, and it is usually connected by flying wire to the module’s Rx. This issue will be corrected in subsequent versions of the board after 1.0. At this time, Type C can only be used for data output.
NOTE: If using Type C as the main input/output port, please switch DIP 4-switch to the OFF position.
If using 6P connector as the main input/output port, then switch DIP 4-switch to the ON position.
However, in general, it will be pre-set at the factory and usually does not need to be handled.
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.