My gathered notes from this site and Ublox:
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Wired connection between moving base (for heading) and rover/tractor absolute position) – using code by Matthias Hammer (MTZ8302) and Benjamin’s Dual GPS PCB v1.4 for Ardusimple and C099-F9P.
The UART2 interface is recommended as the default RTCM interface for correction data. The UART2 interface a speed of 460800 baud is required. The Rover F9P(PVT) sends rtcm correction data from TX2pin to the Heading F9P(RelPosNed) RX2pin. As stated by Matthias Hammer the Ardusimple TX2 and RX2 pin labels are reversed!!.
Only the RTCM correction data is used between the heading and rover F9P’s.
No other protocols other than RTCM are to be enabled on UART2. This allows the UART2-TX on the Rover to transmit to the UART2-RX on the moving base without issues such as buffer overflowing or the wrong messages being sent into the heading ZED-F9P unit. For example, do not allow NMEA output messages to be fed back into UART2. Only enable the required RTCM messages to be output on the Rover(PVT) ZED-F9P UART2.
Required corrections transmitted from Rover(PVT) (connected to the right position antenna) to heading(RelPosNed) (connected to the heading left antenna)
The moving base algorithm was optimized for HPG 1.13.
The recommended list of RTCM messages for the Rover(PVT) is:
• RTCM 4072.0 Reference station PVT information
• RTCM 1074 GPS MSM4
• RTCM 1084 GLONASS MSM4
• RTCM 1094 Galileo MSM4
• RTCM 1124 BeiDou MSM4
• RTCM 1230 GLONASS code-phase biases
//Set up by Matthias Hammer (MTZ8302) 12.Juli.2020
//ESP32 programm for UBLOX receivers to send NMEA to AgOpenGPS or other program
byte vers_nr = 52;
char VersionTXT[150] = " - 6. June 2021 by MTZ8302
(TX RX pins swapped for C099-F9P-ken), CMPS14 and Ethernet support, NTRIP client for ESP32, multiple WiFi networks)";
//works with 1 or 2 receivers: if you only have one, connect it to right PVT side PINs 27+16
//1 receiver to send position from UBXPVT message to ESP32
//2 receivers to get position, roll and heading from UBXPVT + UBXRelPosNED via UART to ESP32
//ESP sending $PAOGI or $GGA+VTG+HDT sentence via UDP to IP x.x.x.255 at port 9999 or via USB
//AgOpenGPS sending NTRIP via UDP to port 2233(or USB) → ESP sends it to UBLOX via UART
//filters roll, heading and on weak GPS signal, position with filter parameters changing dynamic on GPS signal quality
//by Matthias Hammer (MTZ8302) 2021, supported by Franz Husch (Jeep1945), WEder (coffeetrac), NTRIP client by GLAY-AK2 (GitHub)
//see GitHub mtz8302 · GitHub and Youtube Ma Ha MTZ8302 https://www.youtube.com/channel/UCv44DlUXQJKbQjzaOUssVgw
//change stettings to your need. Afterwards you can change them via webinterface x.x.x.79 (192.168.1.79)
//if connection to your network fails an accesspoint is opened: webinterface 192.168.1.1
//use serial monitor at USB port, to get sebug messages and IP for webinterface at ESP start.
//for easier setup:
//use webinterface, turn debugmodeUBX on and change GPIO pin until you get data from the UBlox receivers on USB serial monitor
//the settings below are written as defalt values and can be reloaded.
//So if changing settings set EEPROM_clear = true; (line ~109) - flash - boot - reset to EEPROM_clear = false - flash again to keep them as defaults
struct set {
//connection plan:C099-F9P (must set jumper 40E_N on J4 for moving base!!)
// ESP32— Right antenna -ROVER F9P PVT POS — Left antenna -HEADING F9P RELPOSNED-----Sentences
// RX1(ESPp16)------TX1(J9pin2)--------------------------------UBX-Nav-PVT out (=position+speed)
// TX1(ESPp27)------RX1(J9pin1)--------------------------------RTCM in (NTRIP coming from AOG to get absolute/correct postion
// RX2(ESP-25)-----------------------------TX1(J9pin2)----------UBX-RelPosNED out (=position relative to other Antenna) on PCB connect pin11 to pin12 on RelPosNed
// TX2(ESPp17)-----------------------------RX1---------- not connected on PCBV4
// TX2(J3pin6)-----------------RX2(J3pin5)----------RTCM 1077+1087+1097+1127+1230+4072.0+4072.1 (activate in Rover(PVT) F9P = NTRIP for relative positioning)
// Benjamin’s Dual PCB.
// AgOpenGPS Dual GPS v1.4b adjustments to fit C099-F9P
// Join pins by wire:
// TX2(J3pin6)rover to J8pin1rover
// J9pin3 heading to RX2(J3pin5)heading
// J9pin2 heading to J9pin1 heading
// J2pin1rover to J2pin4rover
// J2pin1heading to J2pin4heading
// Cut 5 header pins connecting to C099-F9P rover J9pin3, rover J2pin4, heading J9pin1, heading J9pin3 and heading J2pin4.
//
// IO pins ESP32 side C099-f9P ----------------------------------------------------------------------------
byte RX1 = 16; //right F9P TX1 GPS pos-C099-ken (or only one F9P
byte TX1 = 27; //right F9P RX1 GPS pos-C099-ken (or only one F9P
byte RX2 = 25; //left F9P TX1
byte TX2 = 17; //left F9P RX1
//connection plan:Ardusimple
// ESP32— Right F9P GPS pos — Left F9P Heading-----Sentences
// RX1-27-------TX1--------------------------------UBX-Nav-PVT out (=position+speed)
// TX1-16-------RX1--------------------------------RTCM in (NTRIP coming from AOG to get absolute/correct postion
// RX2-25-----------------------------TX1----------UBX-RelPosNED out (=position relative to other Antenna)
// TX2-17-----------------------------RX1----------
// TX2-------------------RX2----------RTCM 1077+1087+1097+1127+1230+4072.0+4072.1 (activate in right F9P = NTRIP for relative positioning)
// Attention: on Ardusimple boards the print RX2 and TX2 is flipped!!! RX2 print means TX2 function. Workaround: simply connect both RX2 TX2 cross wired
// IO pins ESP32 side ARDUSIMPLE ----------------------------------------------------------------------------
//byte RX1 = 27; //right F9P TX1 GPS pos-C099-ken (or only one F9P
//byte TX1 = 16; //right F9P RX1 GPS pos-C099-ken (or only one F9P
//byte RX2 = 25; //left F9P TX1
//byte TX2 = 17; //left F9P RX1
byte Eth_CS_PIN = 5; //CS PIN with SPI Ethernet hardware SPI config: MOSI 23 / MISO 19 / CLK18 / CS5
uint8_t SDA = 21; //I2C Pins for CMPS14
uint8_t SCL = 22;
byte Button_WiFi_rescan_PIN = 4; //Button to rescan/reconnect WiFi networks / push to GND
byte LEDWiFi_PIN = 2; // BUILTIN or 2 WiFi Status LED 0 = off
byte LEDWiFi_ON_Level = LOW; //HIGH = LED on high, LOW = LED off....ken
//Network---------------------------------------------------------------------------------------------
//tractors WiFi or mobile hotspots
char ssid1[24] = "L1"; // WiFi network Client name
char password1[24] = "xpx8sy8pgh"; // WiFi network password//Accesspoint name and password
char ssid2[24] = "Repeater";// WiFi network Client name
char password2[24] = "CarolineFarm"; // WiFi network password//Accesspoint name and password
char ssid3[24] = ""; // WiFi network Client name
char password3[24] = ""; // WiFi network password//Accesspoint name and password
char ssid4[24] = ""; // WiFi network Client name
char password4[24] = ""; // WiFi network password//Accesspoint name and password
char ssid5[24] = ""; // WiFi network Client name
char password5[24] = ""; // WiFi network password//Accesspoint name and password
char ssid_ap[24] = "GPS_unit_F9P_Net"; // name of Access point, if no WiFi found, NO password!!
int timeoutRouter = 120; //time (s) to search for existing WiFi, than starting Accesspoint
byte timeoutWebIO = 10; //time (min) afterwards webinterface is switched off
// Ntrip Caster Data
char NtripHost[40] = "auscors.ga.gov.au";// 13.237.241.59 3.104.156.106 52.65.142.231;// ntrip.data.gnss.ga.gov.au // Server IP or URL
int NtripPort = 2101; // Server Port
char NtripMountpoint[40] = "PERT00AUS0"; // Mountpoint
char NtripUser[40] = "sh****"; // Username
char NtripPassword[40] = "*****"; // Password
byte NtripSendWhichGGASentence = 0; // 0 = No Sentence will be sended / 1 = send fixed GGA Sentence from belowb/ 2 = GGA from GPS position will be sended
char NtripFixGGASentence[100] = "$GPGGA,051353.171,4751.637,N,01224.003,E,1,12,1.0,0.0,M,0.0,M,,*6B"; //hc create via www.nmeagen.org
byte NtripGGASendRate = 10; // time in seconds between GGA Packets
// If the wifi network is x.x.1.x style of IP numbers, you only need to change wifi info and
// antenna distance in the ESP code and set 2233 as port in the ntrip settings in AOG.
// When you have for example x.x.0.x wifi network, also change module number x.x.1.x to
// x.x.0.x in the UDP settings in AOG. Set UDP On and it should work.
//WiFi
byte WiFi_myip[4] = { 192, 168, 1, 79 }; // Roofcontrol module
byte WiFi_gwip[4] = { 192, 168, 1, 1 }; // Gateway IP only used if Accesspoint created
byte WiFi_ipDest_ending = 255;//ending of IP address to send UDP data to
byte mask[4] = { 255, 255, 255, 0 };
byte myDNS[4] = { 8, 8, 8, 8 }; //optional
//Ethernet
byte Eth_myip[4] = { 192, 168, 1, 80 }; // Roofcontrol module
byte Eth_ipDest_ending = 255;//ending of IP address to send UDP data to
byte Eth_mac[6] = { 0x90,0xA2,0xDA,0x10,0xB3,0x1C }; //usb autosteer 0x70, 0x69, 0x69, 0x2D, 0x30, 0x31
bool Eth_static_IP = false; // false = use DHPC and set last number to 80 (x.x.x.80) / true = use IP as set above
unsigned int PortGPSToAOG = 5544; //this is port of this module: Autosteer = 5577 IMU = 5566 GPS =
unsigned int PortFromAOG = 8888; //port to listen for AOG
unsigned int AOGNtripPort = 2233; //port NTRIP data from AOG comes in
unsigned int PortDestination = 9999; //Port of AOG that listens
//Antennas position
double AntDist = 61.00; //cm distance between Antennas
double AntHight = 254.0; //cm hight of Antenna
double virtAntLeft = 30.50; //cm to move virtual Antenna to the left (was renamed, keep your settings, name of direction was wrong)
double virtAntForew = 0.00; //cm to move virtual Antenna foreward
double headingAngleCorrection = 90.0;
double AntDistDeviationFactor = 1.2; // factor (>1), of whom length vector from both GPS units can max differ from AntDist before stop heading calc
byte checkUBXFlags = 1; //UBX sending quality flags, when used with RTK sometimes
byte filterGPSposOnWeakSignal = 1; //filter GPS Position on weak GPS signal
byte GPSPosCorrByRoll = 1; // 0 = off, 1 = correction of position by roll (AntHight must be > 0)
double DualRollAngleCorrection = 0.0;
byte MaxHeadChangPerSec = 30; // NOT USED at the moment - degrees that heading is allowed to change per second
byte DataTransVia = 7; //transfer data via 0 = USB / 7 = WiFi UDP / 8 = WiFi UDP 2x / 10 = Ethernet UDP
byte NtripClientBy = 1; //NTRIP client 0:off /1: listens for AOG NTRIP to UDP (WiFi/Ethernet) or USB serial /2: use ESP32 WiFi NTIRP client
//example: for dual GPS: sendOGI 1, all other 0. For single antenna: VTG,GGA = 1; OGI,HDT = 0, if you have CMPS14 IMUPGN = 1
byte sendOGI = 1; //1: send NMEA message 0: off
byte sendVTG = 0; //1: send NMEA message 0: off
byte sendGGA = 0; //1: send NMEA message 0: off
byte sendHDT = 0; //1: send NMEA message 0: off HDT=Trimble heading sentence
byte sendIMUPGN = 0; //for CMPS14: 1: send IMU message 0: off
//CMPS14
bool CMPS14_present = false;
float CMPS14HeadingCorrection = 0.0;
float CMPS14RollCorrection = 0.0;
int CMPS14_ADDRESS = 0x60; // Address of CMPS14 shifted right one bit for arduino wire library
bool debugmode = false;
bool debugmodeUBX = false;
bool debugmodeHeading = false;
bool debugmodeVirtAnt = false;
bool debugmodeFilterPos = false;
bool debugmodeNTRIP = false;
bool debugmodeRAW = false;
}; set Set;
bool EEPROM_clear = false; //set to true when changing settings to write them as default values: true → flash → boot → false → flash again
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