H-RTK mosaic-H Setup & Getting Started (PX4)

Use as Rover (Aircraft) Station

For PX4 v1.15 and later, the guide below does not apply, please visit the PX4 documentation site for the setup guide:
https://docs.px4.io/main/en/gps_compass/septentrio.html
You only need to set the following parameters:
GPS_1_CONFIG: GPS1 (default to GPS1)
GPS_1_GNSS: 31
GPS_1_PROTOCOL: SBF
SER_GPS1_BAUD: 115200 8N1
EKF2_GPS_CTRL: Bit 3 Dual antenna heading (if the Heading function is not required, this bit does not need to be set)
GPS_PITCH_OFFSET: set according to your setup
GPS_YAW_OFFSET: set according to your setup

To check for heading MAVlink Console :
"listener estimator_status_flags " command, Then check the content displayed by cs_gps_yaw . True means that Heading has been enabled , False means that Heading has not been enabled .

GNSS Data Filtering

Set the following parameters to decrease drifting caused by fluctuation from the GNSS reading
EKF2_GPS_P_NOISE = 1
EKF2_GPS_V_NOISE = 0.6

Use as Base Station

The QGC ground station currently cannot recognize the RTCM data stream of Mosaic-H GPS at this moment, therefore QGC does not support the use of this GPS as Basestation.