It makes sense to me too but I’d be interested to see what difference it actually makes in field conditions. I’m assuming side draft has to be calculated out of the equation as L & R antennas would give a false heading.
I’m looking forward to getting my system out on real jobs rather than driving around in a bumpy maize field, to see just how accurate it is in work. Off topic but I’ve been impressed how well a correction signal 34Km away has worked up to now.
Yes, I currently have a test Setup on my desktop, that uses only UDP (GPS & steering).
RTCM/NTRIP from AOG over UDP to the PCB to the F9P, NMEA the other way.
I might be asking out of my depth here but is your F9P connected to Arduino D0 & D1?
If you mean me: connected to an ESP32.
Software: GitHub - doppelgrau/esp32-aog: Software to controll the tractor from AgOpenGPS
(Attention, documentation need to be fixed in some parts, IMU and dual GPS currently missing)
PCB: GitHub - doppelgrau/esp32-f9p-io-board: An IO-PCB (two motor-driver/H-bridge, CAN, RS232, ADS1115, relay, ethernet, ardusimple f9p compatible connector) with an ESP32 for 12V power, three 15V tolerant analog inputs, three 5V tolerant inputs.
(Software should run on other ESP32 setups too)
Any photos of your setup?
Yes and thank you. I’ll take a look.
The setup on my desk. PCB with the F9P fit into a 3d printed housing.
(PCB in front has no function other than holding the motor, potentiometer and LED - USB-cable only for programming/debugging connected.)
It’s not about pitch, its about an accurate heading.
Cool, it actually works, I never tested it all the way with ntrip as well. Good to know!
UDP seems to work really well, despite me getting flamed on Emlid site for suggesting Emlid add udp support.
Well here is the 3 antenna AHRS solution from Ardusimple.
Wow…Think I may hold off ordering my F9P boards for a minute then… I wonder how long that will be until it’s released…
Loud thinking: With dual gps calculated heading and heading generated out of moving point (like it is done currently in AGO with single antenna and without BNO) you could subtract the drift angle. Together with roll could be a automatedsidehilldriftcompensation. Isn’t it?
Only math? 
Yes, just math! AOG already has sidehill drift comp. It just adds a bit more steer based on roll to turn uphill.
I do wonder about dual antenna and drift though, you would think it would want to steer downhill since the dual antenna heading wouldn’t be the same as the ab line, but try to make the 2 the same. Going to have to do some careful testing @MTZ8302.
With a single antenna the heading is still the same as the ab even though the tractor is on an angle pointing up hill, but fix to fix is straight. With single antenna, all of that is self compensating.
This was my thought. Side draft is common with the undulating ground in our area.
Would be interesting to see a direct comparison of single and dual antenna on the same machine in real conditions, to show the benefits.
I’m amazed how stable AOG is on a rough maize field as it is!
This is the reply I received 7 hours ago.
simpleRTK2B-SBC will be available for purchase in April. It is a product intended for system integrators and initially will not be available for single purchases.
Best regards,
ArduSimple Team
We are system integrators !
Our 15+ year old (so old it still only uses GPS) Autofarm systems use 3 GPS receivers for roll and heading. The main position receiver is L1/L2 RTK, the other two are L1 only for heading and roll. Works well for slow speed and very stable steering once configured correctly.
Single use system integrators
