Is the UM982 an F9P killer for AOG?

[tomischmid]

@BabtaiRTK

GpHPR com2 0.1

Mode:
#MODE,84,GPS,FINE,2292,49212500,0,0,18,54;MODE ROVER AUTOMOTIVE,HEADINGMODE FIXLENGTH*21

#UNILOGLIST,84,GPS,FINE,2292,49141800,0,0,18,54;
< 3
< GPVTG COM1 0.1
< GPGGA COM1 0.1
< GPHPR COM1 0.1

Config:
$command,config,response: OK*54

$CONFIG,ANTENNA,CONFIG ANTENNA POWERON*7A

$CONFIG,NMEAVERSION,CONFIG NMEAVERSION V410*47

$CONFIG,RTK,CONFIG RTK TIMEOUT 600*69

$CONFIG,RTK,CONFIG RTK RELIABILITY 3 1*76

$CONFIG,PPP,CONFIG PPP TIMEOUT 300*6C

$CONFIG,HEADING2,CONFIG HEADING2 FIXLENGTH*6F

$CONFIG,HEADING,CONFIG HEADING RELIABILITY 2*66

$CONFIG,HEADING,CONFIG HEADING TRACTOR*69

$CONFIG,HEADING,CONFIG HEADING LENGTH 0.00 0.00*38

$CONFIG,SMOOTH,CONFIG SMOOTH HEADING 10*4D

$CONFIG,UNDULATION,CONFIG UNDULATION AUTO*2B

$CONFIG,DGPS,CONFIG DGPS TIMEOUT 300*6C

$CONFIG,RTCMB1CB2A,CONFIG RTCMB1CB2A ENABLE*25

$CONFIG,ANTENNADELTAHEN,CONFIG ANTENNADELTAHEN 0.0000 0.0000 0.0000*3A

$CONFIG,PPS,CONFIG PPS ENABLE GPS POSITIVE 500000 1000 0 0*6E

$CONFIG,SIGNALGROUP,CONFIG SIGNALGROUP 4 5*05

$CONFIG,AGNSS,CONFIG AGNSS DISABLE*70

$CONFIG,COM1,CONFIG COM1 460800*2E

$CONFIG,COM2,CONFIG COM2 460800*2E

$CONFIG,COM3,CONFIG COM3 460800*2E

[BabtaiRTK]

Yes im totally sure , cause moving one of the antena changes roll and heading reading in AOG Im using 5.8.3 by the way. and moving the steer box doesnt change anything . i chose Dual as IMU , and dual in antenna setings tab too . Do u get a green status of IMU in aog whith ur setup ?
AOG code has max hz values if its over 11 it reverts to 10 . i have removed those in mine but still the raw hz is jumping between 10 and 19 hz - so i though its just a windows machine limitation ( windows not being real time os)

[BabtaiRTK]

Did u read the post that u need bno conected to get the UM heading ?
and switch CONFIG HEADING RELIABILITY 2 to 1 if u dont have good signal near the house like i do.

[chri5k]

Cool. Now if we can just get @tomischmid going. We all get there together.

[tomischmid]

I don’t have a BNO085.
It’s supposed to work without it?

[BabtaiRTK]

it doesnt work for me whithout a BNO . u could easilly change the teensy code that it would think that the bno is present .

[BabtaiRTK]

o added this line and it works whithout IMU conected

[chri5k]

My bad. I missed adding the imuHandler() before buildNMEA() in Autosteer_gps_teensy_v4_1.ino.

Here is a version with that change.
teensy_um982_alpha_12-10-23.hex.zip (356.2 KB)

[chri5k]

Just received two of these. Hopefully get them put up on the testbed in the next few days. They fit in your hand and have magnets on the bottom. I like the connector on the side so no stand is needed to use them on a flat metal surface.
https://www.aliexpress.us/item/3256805050539121.html?spm=a2g0o.order_list.order_list_main.5.17681802sRnX4h&gatewayAdapt=glo2usa

[BabtaiRTK]

Did it came whith a cable ? how could i check if my local rtk corections provider provides triple band coverage ?

[chri5k]

No. I had TNC to SMA adapters and bought some SMA M-F cables.

Here is a list o the RTCM v3 messages. Make sure your provider is sending MSM7 messages for all constellations. You can do RTCMSTATUSA ONCHANGED and the UM982 will show which RTCM messages you are receiving as they are received.

https://www.use-snip.com/kb/knowledge-base/rtcm-3-message-list/

[tomischmid]

It works!!
I would like to thank everyone for their patience with me.

I still have one understanding question:
As I understand it, Dual tries to calculate a point on the ground based on the distance and height of the antennas. In this way, AgO should be able to distinguish between a fluctuation and a change in course.
Is there a difference between dual with two F9Ps and dual with UM982?

I’ll try to test it in the field. The weather here (Switzerland) is miserable right now.
Best community here ever. thanks

[chri5k]

All GNSS systems calculate a point among 3 axises. With a dual GNSS system, data like heading and roll can be calculated by the differences between the two points and the satellites.

Determining the actual differences between using dual F9P and UM982 is the reason I started this topic. Dual F9P’s are a solution that has significant “real world” data by AOG users. However, they are costly which can be a barrier to entry for some farmers. Smaller farming operations often have constrained budgets. Larger corporate farms can afford to spend 10’s of thousands on commercial systems. I think AOG and all the associated developments are helping to level the playing field.

[Gianfranco]

What connector, sma?

[chri5k]

Connector for what?

The UM982 boards have MMCX female jacks.
The high precision antennas I mentioned have TNC.

[chri5k]

Pretty neat board from TOPGNSS. On sale for $155USD

New UM982 module High-precision heading GNSS board RTK differential Direction...

SMA connectors are nice so no MMCX to SMA adapter cables needed. It only exposes 2 of the 3 com ports. The connector for com ports and power are not ideal for PCB but would be great for lab / experimentation use.

[chri5k]

So I am working on a different method of sending data from the UM982 to AgIO. AgIO can accept and parse GGA as well as KSXT sentences. No need for PANDA or PAOGI sentences. The UM982 only has to generate 2 sentences instead of 3. The AOG Teensy firmware does not need to parse the sentences. The Teensy receives the data via a com port and sends it to AgIO over UDP or USB. Using either of those methods, AOG shows 10 “missed” and continues to count up by 10 which also happens to be the Hz rate of the GNSS sentences. If I change the GNSS Hz rate to 2Hz the “miss” count counts up by 2. 5Hz GNSS rate, the misses count up by 5. The log in AgIO does not show any gap in the received sentences. There is a GGA and KSXT sentence for every fraction of a second.

Vary puzzling. Anyone familiar with the AgIO and / or AOG code? I guess I will ave to get familiar with the AgIO and AOG code.

[RGM]

I suspect the reason the missed messages counts up is that agio is receiving two position messages. Ksxt has position in it. You don’t need gga so um982 only has to send one message ksxt. Ksxt is what we use with bynav and I have used it also with um982 but the roll with um982 has not been as good as bynav but that could be to do with some settings in um982

[chri5k]

That was it! Killed the GGA messages and no more “missed” messages. I am seeing very steady roll info so far. I posted my current config a few messages back. Also, I posted the latest firmware I have for the UM982. Perhaps that solved some of the roll (pitch) problem.

[Guy1000]

I bought one of those. It also does break out all 3 com ports one to each wired connector and one to the headers. I used mine with a mutilated xbee adapter to work with a micro AIO board. Seemed to work fine. It I never got it in a tractor.