From what I’ve heard, that heading kit from ardusimple doesn’t have right messages for aog.
It sends the heading in ubx messages.
The parser is in Matthias code.
I tried to implement a parser for aog but afterwards I took the easy road with Matthias code and an esp32.
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The ESP 32 dual setup can use RTK corrections sent over X-Bee radio?? 
Guys, who use currently the latest ver from Matthias (april 2020), do you experience troubles with heading reaction at 6-8 km\h, while making a turn? I set 90 deg\sec angle speed change, but still have a virtual drift in AOG during turns \ u-turns. BrickV2+Single antenna works much better in my case.
I put antennas on my toyota with next sizes:
real height 160 cm
distance betw.antennas 94 cm
from rear axle to ant 95 cm
wheel base 270 cm
Setup in ESP32 (Matthias code):
height 155 cm
Antenna to right : 47 cm
Antenna distance 1 cm
Angle heading speed 90 deg (tried also 30-50-70)
Setup in AOG
wheel base 270 cm
Distance 96 cm
height 5 cm
Matthias, please, explain in details the meaning of maxHeadChangPerSec constant.
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Antenna distance in ESP: 1cm. Is this s mistake? Should be 94 cm?
Same question like @kansasfarmer, can we use RTK corrections sent over X-BEE radio from own base?
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According to Ardusimple this should be no problem. On this page they show a stacked rover configuration with two F9P’s and a Xbee radio module.
heaky and kansasfarmer means of the config file form mtz8302 also works on rtk2b with rtk xbee
i am also interested i that answer
That is a filter value. It’s maximum heading changing per second.
Higher is more instable, lower you need more time on headland for turn
10-25 is a good value.
Hello. Maybe someone can tell me why I didn’t upload the file to upload to the arduino mega 2560. maybe someone will try to use the “alpha rtk” antenna
Thanks
Yes , I am using Xbee 868Mhz between base and rover and its works well. In the past i used Xbee 2.4 Ghz but the max distance between rover and base was a little bit short ( 700 m)
@MTZ8302 quick update, I have been using my dual gps setup for 40 hours and overall it was working good. Only sometimes (10x total) it stopped working and Agopengps showed ‘no gps - i’m lost’. This is still with the 10hz firmware and esp code and AOG v4.1-ish. I suspect hardware (esp?) malfunctioning, one day it was happening more after a night storing the tractor outside in the damp. I will test later on.
New code (Beta branch) and new config files on GitHub.
The Webinterface is switched off after an adjustable time to get more HP to calcs and some more changes.
The configs are 8Hz, messages optimised…
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Matt, does it include the fixes so it works correctly here in the UK the same as Franz code? I now have a good working setup with franz code, but no UDP which ideally I need back to free up USB without using a hub which causes me issues.
Tnx for the new update, just a question:
So a 8 bit single core 16mhz Arduino mega without webinterface does fine, and a 32bit dual core 240mhz Esp32 just the wifi and webinterface take up all those extra resources?
not sure how much HP the webinterface draws. When the browser refreshes the page, the actual sentence comes a little later. A possibility would be, to write a real dual core code. It was like this, and I changed to single core to make it run able on mega.
When the main logic is working good (East and West ;-)) then the code can be optimized again for more performance
Didn’t catch the slowing down from the webinterface, but noticed the same behavior when using the OTA
The udp connections for udpRoof and udpNtrip are AsyncUDP,h , while OTA uses WiFiUdp.h This only happens while connected for sending the update.
Maybe running the webserver Async as well might solve this. Have a look at GitHub - me-no-dev/ESPAsyncWebServer: Async Web Server for ESP8266 and ESP32
So i think ive got the TX and RX modifications figured out on the ardusimple boards. But not clear on the IO ref for top board? I guess this is for power
Now i have another problem trying to load configuration file for lower F9P from mtz8302 folder. But it doesnt seem work
Sending: MON-VER - B5 62 0A 04 00 00 0E 34 …
… timeout occurred without receiving an answer. Retrying…!
Sending: MON-VER - B5 62 0A 04 00 00 0E 34 …
Sending: MON-VER - B5 62 0A 04 00 00 0E 34 …
… failed due to timeout!
Sending: MON-VER - B5 62 0A 04 DC 00 45 58 54 20 43 4F 52 45 20 31 2E 30 30 20 28 36 31 62 32 64 64 29 00 00 00 00 00 00 00 00 30 30 31 39 30 30 30 30 00 00 52 4F 4D 20 42 41 53 45 20 30 78 31 31 38 42 32 30 36 30 00 00 00 00 00 00 00 00 00 00 00 46 57 56 45 52 3D 48 50 47 20 31 2E 31 32 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 50 52 4F 54 56 45 52 3D 32 37 2E 31 31 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 4D 4F 44 3D 5A 45 44 2D 46 39 50 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 47 50 53 3B 47 4C 4F 3B 47 41 4C 3B 42 44 53 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 51 5A 53 53 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 BD 36 …
… timeout occurred without receiving an answer. Retrying…!
Sending: MON-VER - B5 62 0A 04 DC 00 45 58 54 20 43 4F 52 45 20 31 2E 30 30 20 28 36 31 62 32 64 64 29 00 00 00 00 00 00 00 00 30 30 31 39 30 30 30 30 00 00 52 4F 4D 20 42 41 53 45 20 30 78 31 31 38 42 32 30 36 30 00 00 00 00 00 00 00 00 00 00 00 46 57 56 45 52 3D 48 50 47 20 31 2E 31 32 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 50 52 4F 54 56 45 52 3D 32 37 2E 31 31 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 4D 4F 44 3D 5A 45 44 2D 46 39 50 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 47 50 53 3B 47 4C 4F 3B 47 41 4C 3B 42 44 53 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 51 5A 53 53 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 BD 36 …
ATTENTION: Aborted by User!
Incomplete Process
i get this message