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RTKite to Pixhawk integration guide

Solution

 

This quick manual with guide you to integrate North's RTKite System-on-Module GNSS RTK receiver to operate as the main GPS for 3DR's Pixhawk autopilot module.

 

I. Interfase.

The Pixhawk uses TTL 3.3V as logic for serial COM ports.

The RTKite receiver works with either Serial RS232 or TTL 3.3V. If you are going to use the RTKite receiver only with the Pixhawk module, we recommend you to order it directly on this version.

If you order the RTKite with Serial RS232 logic and want to use it with the Pixhawk, you could either put a RS232 to TTL 3.3V converter or convert the RTKite to TTL 3.3V logic

II.- Pinout.

The details of Pixhawk's Pinout are on its support site: https://pixhawk.org/modules/pixhawk#pinouts

The RTKite is to be connected on the same ports used for regular GPS receivers, it can be the Pixhawk "GPS" port or the "Serial 4/5" Port.

Pixhawk's Pinout

GPS Port (Primary GPS)
Pin Signal Level (V)
3 (blk) Rx (IN) +3.3V
6 (blk) GND GND
     
Serial 4/5 Port (Secondary GPS)
Pin Signal Level (V)
3 (blk) Rx (IN) +3.3V
6 (blk) GND GND

 

RTKite's Pinout

RTKite String Port
Pin Signal Level (V)
2 Tx (OUT) +3.3V
8 and 9 GND GND

In RTKite the data output is on Pin2 at 115,200 baud.

 

The interconnection between both modules is:

RTKite V2 Pixhawk
PIN 2 PIN 3
PIN 8 or 9 PIN 6

 

 

III.- RTKite setup.

Use the SmartOS Config Android application and connect to the RTKite using the steps for CONFIGURATION.

On the RTKite Menu, select the Output Mode: "5Hz ArduPilot NOVA" and press "Set RTKite Mode".

IV.- Pixhawk setup.

In Mission Planner, setup the connetion if you are using GPS port (primary GPS) or Serial4/5 port (secondary GPS)

GPS_TYPE = 15 for GPS port (primary GPS)

GPS_TYPE2 = 15 Serial4/5 port (secondary GPS)

The Baud and Protocol are default, but remember here for reference

SERIAL3_BAUD = 115 (default) (primary GPS)

SERIAL3_PROTOCOL = 5 (default) (primary GPS)

SERIAL4_BAUD = 115 (default) (secondary GPS)

SERIAL4_PROTOCOL = 5 (default) (secondary GPS)

 

The integration with Pixhawk is now complete.

Example pictures for your reference

Related articles Is there any way to get the RTK Output Port (RS232) onto the same 38400 baud rate as the TTL (3.3v) RTCM port?
Quick Guide for get connect to CORS/NTRIP
Article details
Article ID: 12
Category: RTKITE FAQ

 
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